Kinematic Singularity and Bifurcation Analysis of Sidestay Landing Gear Locking Mechanisms

A dual-sidestay landing gear is prone to locking failure in the deployed state due to the restriction of movement between two sidestays. However, the principle of its locking movement still remains unclear. The present study is aimed at investigating the synchronous locking performance of the dual-sidestay landing gear based on the singularity and bifurcation theory. From the perspective of the kinematic mechanism, the reason for high sensitivity to structural dimensions in the locking process is explained, and the locked position is investigated by employing the numerical continuation method in the case of a single-sidestay landing gear. Afterwards, the reason for the locking failure of the dual-sidestay landing gear is analyzed, and a kinematic optimization method for the synchronous locking is proposed. The results reveal that the lock links must reach the lower overcenter singular point to fully lock the landing gear, and the singular point is sensitively affected by structural parameters. Owing to the different positions of singular points, the movements of fore and aft sidestays seriously restrict each other, causing locking failure of the dual-sidestay landing gear. The singular points of two sidestays can be optimized to be approximately identical, making their movements more coordinated.

Design Optimization of 3-DOF Redundant Planar Parallel Kinematic Mechanism Based Finishing Cut Stage for Improving Surface Roughness of FDM 3D Printed Sculptures

This paper describes the optimal design of a 3-DOF redundant planar parallel kinematic mechanism (PKM) based finishing cut stage to improve the surface roughness of FDM 3D printed sculptures. First, to obtain task-optimized and singularity minimum workspace of the redundant PKM, a weighted grid map based design optimization was applied for a task-optimized workspace without considering the redundancy. For the singularity minimum workspace, the isotropy and manipulability of the end effector of the PKM were carefully modeled under the previously obtained redundancy for optimality. It was confirmed that the workspace size increased by 81.4%, and the internal singularity significantly decreased. To estimate the maximum rated torque and torsional stiffness of all active joints and prevent an undesired end effector displacement of more than 200 , a kinematic stiffness model composed of active and passive kinematic stiffness was derived from the virtual work theorem, and the displacement characteristic at the end effector was examined by applying the reaction force for the PLA surface finishing as an external force acting at the end effector. It was confirmed that the displacement of the end effector of a 1-DOF redundant PKM was not only less than 200 but also decreased from 40.9% to 67.4% compared to a nonredundant actuation.

Design of an Ankle Rehab Robot With a Compliant Parallel Kinematic Mechanism

In this article, we present the design of a novel ankle rehabilitation robot (ARR), called the Flex-ARR, that employs a compliant parallel kinematic mechanism (PKM) with decoupled degrees-of-freedom. While multiple ARRs have been developed and commercialized, their clinical adoption has been limited primarily because they do not emulate the natural motion of the ankle. Based on a review of existing ARRs and their limitations, this article defines functional requirements and design specifications for an optimal ARR. These are then used to develop a design strategy followed by conceptual and detailed design of a novel ARR. The proposed Flex-ARR is designed to collocate the biological center of rotation of the ankle with that of the robot's center of rotation to allow natural ankle motion. The strategic use of a compliant PKM in the Flex-ARR not only absorbs any residual misalignment between these two centers but also helps inherently accommodate variations in user foot sizes with minimal adjustments. Detailed design includes the ARR structure with adjustable features, compliant PKM optimization, sensor and actuator selection, and an alignment tool.

Configuring a new educational machine tool based on hybrid kinematic mechanism

The paper shows the configuration of a new educational machine based on hybrid kinematics mechanism. The concept of a three-axis O-X hybrid mechanism is described, consisting of a single serial translational axis and a two-axis parallel mechanism that can operate in two variants, with extended form O and crossed form X-joints of the parallel mechanism. The virtual prototype of the machine was configured in a CAD/CAM environment, where simulations of the mechanism's operation were performed. A programming system for machine has been prepared that also enables program verification. An open architecture control system based on the LinuxCNC platform has been configured for control of the machine. The trial work of the machine was performed in order to verify the realized prototype and control.

Colisional deformations of the Dnieper-Donets Basin. Part 2. Geodynamic modes and kinematic mechanism of tectonic inversion

The tectonic inversion of the Dnieper-Donets Basin and the Donets Foldbelt began in the Late Hercynian epoch under the influence of collisional movements of the left-sided knematics of the compression orogen on the edge of the Paleotethis. It is shown that as a result of gently inclined disruptions in the Paleozoic platform cover of the West Donets Graben, a thrust lattice was formed, which controlled the processes of collisional buckling of the horizons in the thrust and strike-slip modes. As a result of the displacement of geomasses from the axial zones of maximum compression to the zones of "geodynamic shadow" - in the direction of the Basin borders in the northern and axial parts of the Graben, linear uplift folds were formed, and in the southern - thrust covers. At the Late Mesozoic and Cenozoic, in the mode of interference of the uplift-thrust and strike-slip fields of the reverse, right-sided kinematics of movements, deformations of the Hercynian thrust lattice and the dynamically conjugated linear near-fault folding took place with the formation of coulisse articulated upthrust-fold zones and en-echelonly overthrust covers. The geodynamic setting of the grouping of the compression axes in the western part of the Donbass, which was experiencing orogenic uplift, caused the thrust of allochthonous geomasses to the syneclise related autochthon of the southeastern segment of the depression. In the West Donets Graben, this caused an increase in the section beyond the Hercynian Neoautochthon and the Cimmerian-Alpine allochthon with the formation of a clinoform wedging Segment. Along the main strike-slip faults, which form the tectonic rails of its invasion, geodynamic zones of geomass squeezing out, formed by curvilinear, en-echelonly upthrow folds, were formed. In the foreland of the Segment, at the ends of dynamically coupled thrust and strike-slip faults, a forward compression fan is formed; in the hinterland, on the roots of thrust covers, folded suture zones are formed. Based on the results of the kinematic analysis of the Hercynian and Alpine deformation structures, a new kinematic model of the tectonic inversion of the riftogenic structure of the Southeastern Segment of the Dnieper-Donets Basin has been developed. In accordance with it, the deformations of the sedimentary cover of the West Donets Graben were carried out according to the kinematic mechanism of a transverse orocline of pushing geomasses of the sub-thrust type, under the pressure of the tectonic stamp of the Donets Foldbelt.

Calibration of In-Plane Center Alignment Errors in the Installation of a Circular Slide with Machine-Vision Sensor and a Reflective Marker

This paper describes a method for calibrating in-plane center alignment error (IPCA) that occurs when installing the circular motion slide (CMS). In this study, by combini ng the moving carriage of the CMS and the planar PKM (parallel kinematic mechanism) with the machine tool, the small workspace of the PKM is expanded, and the workpiece is placed on the table with the CMS installed is processed through the machine tool. However, to rigidly mount the CMS on the table, the preload between the guide and the support bearings must be adjusted with the eccentric bearing, and in this process, the IPCA occurs. After installing a reflective marker on the PKM, the PKM is slowly rotated along with the ring guide in the way of stop-and-go without the PKM’s own motion. Then, using a machine vision camera installed at the top of the CMS, the IPCA, which is the difference between the actual center position and the nominal center position of the CMS with respect to the camera, can be successfully calibrated through the circular fitting process. Consequently, it was confirmed that the IPCA of 0.37 mm can be successfully identified with the proposed method.

Design of an Ankle Rehab Robot With a Compliant Parallel Kinematic Mechanism

In this paper, we present the design of a novel ankle rehabilitation robot (ARR), called the Flex-ARR, that employs a compliant parallel kinematic mechanism (PKM) with decoupled degrees of freedom. The Flex-ARR is designed to collocate the biological center of rotation of the ankle with that of the robot’s center of rotation to allow natural ankle motion. While multiple ARR designs have been developed in research labs and some are commercially available, their clinical adoption has been limited because they do not emulate the natural motion of the ankle. The Flex-ARR leverages a unique PKM design that uses compliance to absorb minor misalignments between the center of rotation of the ankle and the robot, thereby allowing natural ankle motion. Also, because of its unique design, the PKM inherently accommodates variations in user foot sizes with minimal adjustments. The Flex-ARR is designed to provide multiple training modes that allow for both rehabilitation and assessment modalities. This paper provides a review of the literature to identify the key factors that have limited the clinical adoption of existing ARRs. Based on this, functional requirements and design specifications for an optimal ARR are defined. This is then used to develop a design strategy, followed by conceptual and detailed design.