اشترك بالحزمة الذهبية واحصل على وصول غير محدود شمرا أكاديميا
تسجيل مستخدم جديدA Translational Three-Degrees-of-Freedom Parallel Mechanism With Partial Motion Decoupling and Analytic Direct Kinematics
262
0
0.0
(
0
)
اسأل ChatGPT حول البحث
ﻻ يوجد ملخص باللغة العربية
According to the topological design theory and method of parallel mechanism (PM) based on position and orientation characteristic (POC) equations, this paper studied a 3-DOF translational PM that has three advantages, i.e., (i) it consists of three fixed actuated prismatic joints, (ii) the PM has analytic solutions to the direct and inverse kinematic problems, and (iii) the PM is of partial motion decoupling property. Firstly, the main topological characteristics, such as the POC, degree of freedom and coupling degree were calculated for kinematic modeling. Thanks to these properties, the direct and inverse kinematic problems can be readily solved. Further, the conditions of the singular configurations of the PM were analyzed which corresponds to its partial motion decoupling property.
قيم البحث
اقرأ أيضاً
This paper presents a novel three-degree-of-freedom (3-DOF) translational parallel manipulator (TPM) by using a topological design method of parallel mechanism (PM) based on position and orientation characteristic (POC) equations. The proposed PM is
only composed of lower-mobility joints and actuated prismatic joints, together with the investigations on three kinematic issues of importance. The first aspect pertains to geometric modeling of the TPM in connection with its topological characteristics, such as the POC, degree of freedom and coupling degree, from which its symbolic direct kinematic solutions are readily obtained. Moreover, the decoupled properties of input-output motions are directly evaluated without Jacobian analysis. Sequentially, based upon the inverse kinematics, the singular configurations of the TPM are identified, wherein the singular surfaces are visualized by means of a Gr{o}bner based elimination operation. Finally, the workspace of the TPM is evaluated with a geometric approach. This 3-DOF TPM features less joints and links compared with the well-known Delta robot, which reduces the structural complexity. Its symbolic direct kinematics and partially-decoupled property will ease path planning and dynamic analysis. The TPM can be used for manufacturing large work pieces.
We consider the quantization of chiral solitons with baryon number $B>1$. Classical solitons are obtained within the framework of a variational approach. From the form of the soliton solution it can be seen that besides the group of symmetry describi
ng transformations of the configuration as a whole there are additional symmetries corresponding to internal transformations. Taking into account the additional degrees of freedom leads to some sort of spin alignment for light nuclei and gives constraints on their spectra.
A central theme in quantum information science is to coherently control an increasing number of quantum particles as well as their internal and external degrees of freedom (DoFs), meanwhile maintaining a high level of coherence. The ability to create
and verify multiparticle entanglement with individual control and measurement of each qubit serves as an important benchmark for quantum technologies. To this end, genuine multipartite entanglement have been reported up to 14 trapped ions, 10 photons, and 10 superconducting qubits. Here, we experimentally demonstrate an 18-qubit Greenberger-Horne-Zeilinger (GHZ) entanglement by simultaneous exploiting three different DoFs of six photons, including their paths, polarization, and orbital angular momentum (OAM). We develop high-stability interferometers for reversible quantum logic operations between the photons different DoFs with precision and efficiencies close to unity, enabling simultaneous readout of 262,144 outcome combinations of the 18-qubit state. A state fidelity of 0.708(16) is measured, confirming the genuine entanglement of all the 18 qubits.
The interplay of structural and electronic phases in iron-based superconductors is a central theme in the search for the superconducting pairing mechanism. While electronic nematicity, defined as the breaking of four-fold symmetry triggered by electr
onic degrees of freedom, is competing with superconductivity, the effect of purely structural orthorhombic order is unexplored. Here, using x-ray diffraction (XRD), we reveal a new structural orthorhombic phase with an exceptionally high onset temperature ($T_mathrm{ort} sim 250$ K), which coexists with superconductivity ($T_mathrm{c} = 25$ K), in an electron-doped iron-pnictide superconductor far from the underdoped region. Furthermore, our angle-resolved photoemission spectroscopy (ARPES) measurements demonstrate the absence of electronic nematic order as the driving mechanism, in contrast to other underdoped iron pnictides where nematicity is commonly found. Our results establish a new, high temperature phase in the phase diagram of iron-pnictide superconductors and impose strong constraints for the modeling of their superconducting pairing mechanism.
This paper presents a sensitivity analysis of the Orthoglide, a 3-DOF translational Parallel Kinematic Machine. Two complementary methods are developed to analyze its sensitivity to its dimensional and angular variations. First, a linkage kinematic a
nalysis method is used to have a rough idea of the influence of the dimensional variations on the location of the end-effector. Besides, this method shows that variations in the design parameters of the same type from one leg to the other have the same influence on the end-effector. However, this method does not take into account the variations in the parallelograms. Thus, a differential vector method is used to study the influence of the dimensional and angular variations in the parts of the manipulator on the position and orientation of the end-effector, and particularly the influence of the variations in the parallelograms. It turns out that the kinematic isotropic configuration of the manipulator is the least sensitive one to its dimensional and angular variations. On the contrary, the closest configurations to its kinematic singular configurations are the most sensitive ones to geometrical variations.
سجل دخول لتتمكن من نشر تعليقات
التعليقات
جاري جلب التعليقات
سجل دخول لتتمكن من متابعة معايير البحث التي قمت باختيارها
