Topological Synthesis of Geared Robotic Mechanisms

1998 ◽  
Vol 120 (2) ◽  
pp. 230-239 ◽  
Author(s):  
Dar-Zen Chen ◽  
Shuen-Chen Shiue

An efficient and systematic methodology for the topological synthesis of geared robotic mechanisms is developed. The approach is based on the idea that the kinematic structure of a geared robotic mechanism can be described by an equivalent open-loop chain (EOLC) and mechanical transmission lines (MTLs) which drive the joints of the EOLC. It is shown that an MTL can be decomposed as an input unit and several transmission units connected in series. The characteristics of the input and transmission units are laid out and a systematic methodology is developed to enumerate all admissible input and transmission units from the existing atlas of nonfractionated geared kinematic chains. The atlas of admissible MTLs are then generated accordingly. Thus, all admissible geared robotic mechanisms can be enumerated efficiently with the atlas of admissible MTLs and a preferred form of the EOLC. With this new methodology, some novel structures of geared robotic mechanisms are obtained and it is believed that new areas of application can be further explored.

Author(s):  
Dar-Zen Chen ◽  
Shuen-Chen Shieu

Abstract An efficient and systematic methodology for the topological synthesis of geared robotic mechanisms is developed. The approach is based on the idea that the kinematic structure of a geared robotic mechanism can be described by an equivalent open-loop chain (EOLC) and mechanical transmission lines (MTLs) which drive the joints of the EOLC. It is shown that an MTL can be decomposed as an input unit and several transmission units connected in series. The characteristics of the input and transmission units are laid out and a systematic methodology is developed to enumerate all admissible input and transmission units from the existing atlas of non-fractionated geared kinematic chains. The atlas of admissible MTLs are then generated accordingly. Thus, all admissible geared robotic mechanisms can be enumerated efficiently with the atlas of admissible MTLs and a preferred form of the EOLC. With this new methodology, some novel structures of geared robotic mechanisms are obtained and it is believed that new areas of application can be further explored.


Author(s):  
Dar-Zen Chen ◽  
Chia-Pin Liu

Abstract This paper presents an efficient methodology for the structural synthesis of articulated gear mechanisms. This approach is based on the idea that the kinematic structure of a articulated gear mechanism can be described by an equivalent open-loop chain and mechanical transmission lines and each mechanical transmission line by input and transmission units. A model is established to represent the hierarchical relation among subsystems. A link partition algorithm is also presented to decompose the constraints on the number of link in the decomposition process. According to the model and partition algorithm, a composition polynomial is derived to represent the typology decomposition relation within the desired mechanism with specified configuration and number of links. In the composition polynomial, subsystems in each level are defined symbolically with the distributed number of links and configuration. From the unit-level composition polynomial, unit combinations of the desired mechanism are indicated. Thus, suitable units can be selected from the former identified admissible units and combined upward along the hierarchical model according to the synthesis process. With the clear specification on the composition of the desired mechanism, admissible mechanisms can be enumerated efficiently and systematically.


2013 ◽  
Vol 135 (11) ◽  
Author(s):  
Hailin Huang ◽  
Zongquan Deng ◽  
Xiaozhi Qi ◽  
Bing Li

In this paper, we present a virtual chain approach for the mobility analysis of multiloop deployable mechanisms. First, the relative motion of the links of single-loop units in multiloop mechanisms are analyzed using the equivalent motion of certain types of open-loop virtual kinematic chains; these kinematic chains comprise some types of joints connected in series by flexible links. This reveals that the links in these virtual chains are not rigid when the mechanism is moving. The parameters of these virtual kinematic chains (such as the link length, the twist angle of two adjacent revolute joint axes, and so on) are variable. By using this approach that involves equivalent kinematic chains, the multiloop mechanisms can be considered equivalent to single-loop mechanisms with flexible links; the closure equations of such multiloop mechanisms can also be derived. The analytical procedures are explained using examples of multiloop mechanisms in which Myard mechanisms as used as the basic single-loop units. A prototype is also fabricated to demonstrate the feasibility of the proposed multiloop mechanism. The proposed method yields a more intuitive and straightforward insight into the mobility of complicated multiloop mechanisms.


Author(s):  
Lung-Wen Tsai ◽  
Dar-Zen Chen ◽  
Ta-Wei Lin

Abstract A systematic methodology is developed for the dynamic analysis of a class of geared robotic mechanisms. The concepts of canonical graph representation, the equivalent open-loop chain, and the mechanical transmission lines of a mechanism are used to organize the analysis. The approach modifies the Newton-Euler recursive inverse dynamics algorithm for open-loop chains and tree structures to include gear joints. A recursive method for the evaluation of reaction forces is developed. It is shown that reaction forces can be efficiently computed from the highest level primary links followed by the secondary links, one or two levels at a time, working toward the base. This procedure is especially useful when the evaluation of dynamic loads of bearings and teeth teeth is desired for the design of such mechanisms. A two degree-of-freedom robot manipulator is used as an illustrative example.


Author(s):  
G. Mounika

Nowadays the power consumption is increasing significantly. Due to this, the transmission lines are heavily loaded and in turn results in instability of the line. So orderly transmission of power is essential. For the proper operation of the load the voltage has to be maintained within the acceptable limit. Due to the changes in load, the voltage level of the line also changes. The voltage levels can be improved by using the reactive power compensator like capacitor banks, series compensator, STAT COM and svc. Here, we considered the SVC as reactive power compensator. This paper presents the reactive power compensation for a 230v transmission line model with variable inductive load using SVC and designed in Simulink. Here we considered the SVC model which contains of anti-thyristors in series to the inductor and a shunt capacitor. The required reactance is fed from the inductor to the transmission line by changing the gate triggering pulse to the thyristor pair. So, the main disadvantage of the open loop var compensation using svc is the triggering to the thyristor pair has to be changed every time depending on the load. This can overcome by implementing it using the feedback loop. Here for the feedback, we used the PI controller. under The PI controller gives the required gating pulse to the thyristor pair. The performance of this model is studied variable load conditions.


1998 ◽  
Vol 122 (4) ◽  
pp. 472-478 ◽  
Author(s):  
Dar-Zen Chen ◽  
Kang-Li Yao

An efficient and systematic methodology for the topological synthesis of admissible fractionated geared differential mechanisms is presented. Based on the extension of the 2-dof automotive gear differential, it is shown that a fractionated geared differential mechanism can be decomposed into a main component and an input component. Characteristics of these two components are laid out, and the atlases of admissible input and main components are identified from the existing atlases of non-fractionated geared kinematic chains. With a systematic procedure to choose input and main components and select admissible connecting links, fractionated geared differential mechanisms with three and four input/output links are generated accordingly. [S1050-0472(00)00804-7]


Electricity ◽  
2021 ◽  
Vol 2 (2) ◽  
pp. 168-186
Author(s):  
Md Tanbhir Hoq ◽  
Nathaniel Taylor

The introduction of series capacitors in transmission lines causes problems in terms of reliability and the security of distance protection relays. As distance protection is widely used in the transmission network, the challenge of applying it to series compensated lines has been taken up by utilities and relay manufacturers in various ways. In the field of power system protection, developments are largely driven by relay manufacturers, and are often not published in the academic literature; the status and trend of the relay manufacturer’s development are better found in their product manuals and patent activity. Further insight into specific implementations by transmission utilities can be found from publications in industry-led forums and some academic journals. This article surveys the status and development of distance protection for series compensated lines, with a focus on industrial implementation and practical considerations. Factors that influence the protection of series compensated lines are presented. Implementation examples reported by utilities are summarized as examples of the different situations encountered and the methods used to deal with them. It is observed that many utilities use communication-aided protection in series compensated lines, and distance protection is used with reduced reach. Solutions described in relay manuals are presented to demonstrate the manufacturers’ approaches to problems associated with series capacitor protection. While there are methods to counter voltage inversion, current inversion seems to represent a more serious challenge. A patent overview indicates the trends in this domain to be moving towards time-domain-based faster protection methods.


2005 ◽  
Vol 128 (1) ◽  
pp. 264-271 ◽  
Author(s):  
Raffaele Di Gregorio

A wide family of parallel manipulators (PMs) is the one that groups all PMs with three legs where the legs become kinematic chains constituted of a passive spherical pair (S) in series with either a passive prismatic pair (P) or a passive revolute pair (R) when the actuators are locked. The topologies of the structures generated by these manipulators, when the actuators are locked, are ten. Two out of these topologies are the SR-2PS topology (one SR leg and two PS legs) and the SP-2RS topology (one SP leg and two RS legs). This paper presents two algorithms. The first one determines all the assembly modes of the SR-2PS structures. The second one determines all the assembly modes of the SP-2RS structures. The presented algorithms can be applied without changes to solve, in analytical form, the direct position analysis (DPA) of all the parallel manipulators that generate a SR-2PS structure or a SP-2RS structure when the actuators are locked. In particular, the closure equations of two generic structures, one of type SR-2PS and the other of type SP-2RS, are written. The eliminants of the two systems of equations are determined and the solution procedures are presented. Finally, the proposed procedures are applied to real cases. This work demonstrates that (i) the DPA solutions of any PM that becomes a SR-2PS structure are at most eight, and (ii) the DPA solutions of any PM that becomes a SP-2RS structure are at most sixteen.


2019 ◽  
Author(s):  
Jeffrey W. Brown ◽  
Aynaz Taheri ◽  
Robert V. Kenyon ◽  
Tanya Berger-Wolf ◽  
Daniel A. Llano

AbstractPropagation of signals across the cerebral cortex is a core component of many cognitive processes and is generally thought to be mediated by direct intracortical connectivity. The thalamus, by contrast, is considered to be devoid of internal connections and organized as a collection of parallel inputs to the cortex. Here, we provide evidence that “open-loop” intrathalamic connections involving the thalamic reticular nucleus (TRN) can support propagation of oscillatory activity across the cortex. Recent studies support the existence of open-loop thalamo-reticulo-thalamic (TC-TRN-TC) synaptic motifs in addition to traditional closed-loop architectures. We hypothesized that open-loop structural modules, when connected in series, might underlie thalamic and, therefore cortical, signal propagation. Using a supercomputing platform to simulate thousands of permutations of a thalamo-reticular-cortical network and allowing select synapses to vary both by class and individually, we evaluated the relative capacities of closed- and open-loop TC-TRN-TC synaptic configurations to support both propagation and oscillation. We observed that 1) signal propagation was best supported in networks possessing strong open-loop TC-TRN-TC connectivity; 2) intrareticular synapses were neither primary substrates of propagation nor oscillation; and 3) heterogeneous synaptic networks supported more robust propagation of oscillation than their homogeneous counterparts. These findings suggest that open-loop heterogeneous intrathalamic architectures complement direct intracortical connectivity to facilitate cortical signal propagation.Significance StatementInteractions between the dorsal thalamus and thalamic reticular nucleus (TRN) are speculated to contribute to phenomena such as arousal, attention, sleep, and seizures. Despite the importance of the TRN, the synaptic microarchitectures forming the basis for dorsal thalamus-TRN interactions are not fully understood. The computational neural model we present incorporates “open-loop” thalamo-reticular-thalamic (TC-TRN-TC) synaptic motifs, which have been experimentally observed. We elucidate how open-loop motifs possess the capacity to shape the propagative properties of signals intrinsic to the thalamus and evaluate the wave dynamics they support relative to closed-loop TC-TRN-TC pathways and intrareticular synaptic connections. Our model also generates predictions regarding how different spatial distributions of reticulothalamic and intrareticular synapses affect these signaling properties.


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