Acceleration and Dexterity Performance Indices for 6-DOF and Lower-Mobility Parallel Mechanism

2004 ◽  
Author(s):  
X. J. Guo ◽  
F. Q. Chang ◽  
S. J. Zhu
Keyword(s):  
Parallel Mechanism ◽  
Robot Manipulator ◽  
Coefficient Matrix ◽  
Second Order ◽  
Influence Coefficient ◽  
Global Index ◽  
Performance Indices ◽  
First Order ◽  
Lower Mobility

On the basis of first-order and second-order kinematic influence coefficient matrices, dynamics characteristics indices for robot manipulator are presented in the paper. Different from indices before, these indices include not only the first-order kinematics influence coefficient matrix G, but also the second-order kinematic influence coefficient matrix H. Then with the global index, these indices can be used to guide the dynamics design.

Design and Analysis of 3-DOF Micromanipulator Driven by Piezoelectric Actuators

2008 ◽  
Author(s):  
Shihua Li ◽  
Yue Zhang ◽  
Zhen Huang ◽  
Changcheng Yu ◽  
Wenhua Ding
Keyword(s):  
Finite Element ◽  
Finite Element Modeling ◽  
Parallel Mechanism ◽  
Piezoelectric Actuators ◽  
Coefficient Matrix ◽  
Influence Coefficient ◽  
Velocity Analysis ◽  
First Order ◽  
Flexure Hinges ◽  
Moving Platform

A novel 3-DOF parallel micromanipulator which is driven by piezoelectric actuators has been developed that based on 3–5R parallel mechanism. The micromanipulator consists of a moving platform, a fixed platform, three 5R fixed-length chains and three piezoelectric actuators. In this paper, the first-order influence coefficient matrix of the micromanipulator is given, and then the velocity analysis is given. The dimension of the platform and flexure hinges and the position of flexure are designed, and the safety check of the flexible hinges and the designed mechanism is done with the aid of finite element modeling to provide good stiffness with little bending deformation of the platform. The merits of parallel mechanism and piezoelectric actuators are reflected in this mechanism.

Research on Dynamics of a Three-DOF Parallel Manipulator for Levelling Mechanism

2013 ◽  
Vol 774-776 ◽  
pp. 1369-1374 ◽  
Author(s):  
Hong Jun Yang
Keyword(s):  
Parallel Manipulator ◽  
Coefficient Matrix ◽  
Dynamics Simulation ◽  
Dynamic Equations ◽  
Control System Design ◽  
Influence Coefficient ◽  
Lagrange Method ◽  
First Order ◽  
Influence Coefficient Method ◽  
Coefficient Method

A three-DOF parallel manipulator with two rotations and one translation was put forward as a levelling mechanism in this paper. Its structure and kinematics were analyzed and the first-order influence coefficient matrix was obtained by using the influence coefficient method. Then the complete and concise dynamic equations without too many unknowns were established based on Lagrange method. In addition, the dynamics simulation was carried out and the result shows that drive forces of the legs have no strong coupling, which is important to control system design.

Influence Coefficients and Singularity Analysis of a Novel 3-UPU Parallel Mechanism

2017 ◽  
Author(s):  
Ziming Chen ◽  
Dongliang Cheng ◽  
Yang Zhang ◽  
Zhiwei Yang ◽  
Jin Zhou
Keyword(s):  
Parallel Mechanism ◽  
Degrees Of Freedom ◽  
Model Simulation ◽  
Hessian Matrix ◽  
Symmetry Plane ◽  
Coefficient Matrix ◽  
Singularity Analysis ◽  
Influence Coefficient ◽  
Parasitic Motion ◽  
Moving Platform

A novel 3-UPU parallel mechanism with two rotational and one translational (2R1T) degrees of freedom (DOFs) is analyzed in this paper. The base and moving platform of this mechanism are always symmetric about a middle symmetry plane. The moving platform can rotate continuously about any axis on the middle symmetry plane, so there exists no parasitic motion during the rotation. Using the kinematic influence coefficient theory and the imaginary mechanism method, the first and second order influence coefficient matrix (namely Jacobian matrix and Hessian matrix) of this mechanism are derived. The relations between the velocity and acceleration of the moving platform and the actuated links are obtained. In order to verify the correctness of the theory, two numerical examples are enumerated and varified by the 3D model simulation. The singularities of this mechanism is discussed and the singular configurations of the mechanism, including one kind of limb singularity and two kinds of platform singularities, are obtained.

Kinematic Analysis of 4-UPU Parallel Mechanism Based on Influence Coefficient

2015 ◽  
Vol 741 ◽  
pp. 691-696 ◽  
Author(s):  
Guang Lan Xia ◽  
Xing Wei Hu ◽  
Bao Lin Yin ◽  
Feng Yu
Keyword(s):  
Numerical Analysis ◽  
Kinematic Analysis ◽  
Parallel Mechanism ◽  
Coefficient Matrix ◽  
Degree Of Freedom ◽  
Kinematics And Dynamics ◽  
Influence Coefficient ◽  
Mechanism Analysis ◽  
Acceleration Coefficient ◽  
Mechanism Kinematic

Mechanism kinematic influence coefficient deeply reflects the essence of the kinematics and dynamics mechanism, analysis of the problems of many institutions can use the influence coefficient of clear and clearly expressed. In this paper, with less degree of freedom parallel mechanism as the research object, through the virtual mechanism method to derive one or two order influence coefficient matrix, based on the analysis of the mechanism and influence of speed and acceleration coefficient matrix. Finally, the precision of the method for solving the kinematics is proved by examples of numerical analysis.

Nonlinear Analysis of Visual Evoked Potentials Elicited by Color Stimulation

1997 ◽  
Vol 36 (04/05) ◽  
pp. 315-318 ◽  
Author(s):  
K. Momose ◽  
K. Komiya ◽  
A. Uchiyama
Keyword(s):  
Visual System ◽  
Evoked Potentials ◽  
Visual Evoked Potentials ◽  
Normal Subjects ◽  
Second Order ◽  
First Order ◽  
The Relationship ◽  
Perceived Color ◽  
Second Order Nonlinearity ◽  
Visual Evoked

Abstract:The relationship between chromatically modulated stimuli and visual evoked potentials (VEPs) was considered. VEPs of normal subjects elicited by chromatically modulated stimuli were measured under several color adaptations, and their binary kernels were estimated. Up to the second-order, binary kernels obtained from VEPs were so characteristic that the VEP-chromatic modulation system showed second-order nonlinearity. First-order binary kernels depended on the color of the stimulus and adaptation, whereas second-order kernels showed almost no difference. This result indicates that the waveforms of first-order binary kernels reflect perceived color (hue). This supports the suggestion that kernels of VEPs include color responses, and could be used as a probe with which to examine the color visual system.

Imaginings

2017 ◽  
Vol 9 (3) ◽  
pp. 17-30
Author(s):  
Kelly James Clark
Keyword(s):  
Religious Tradition ◽  
Second Order ◽  
Fine Tuning ◽  
Intellectual Humility ◽  
First Order ◽  
Natural Processes ◽  
Empirically Supported ◽  
Group Violence ◽  
The World ◽  
The Universe

In Branden Thornhill-Miller and Peter Millican’s challenging and provocative essay, we hear a considerably longer, more scholarly and less melodic rendition of John Lennon’s catchy tune—without religion, or at least without first-order supernaturalisms (the kinds of religion we find in the world), there’d be significantly less intra-group violence. First-order supernaturalist beliefs, as defined by Thornhill-Miller and Peter Millican (hereafter M&M), are “beliefs that claim unique authority for some particular religious tradition in preference to all others” (3). According to M&M, first-order supernaturalist beliefs are exclusivist, dogmatic, empirically unsupported, and irrational. Moreover, again according to M&M, we have perfectly natural explanations of the causes that underlie such beliefs (they seem to conceive of such natural explanations as debunking explanations). They then make a case for second-order supernaturalism, “which maintains that the universe in general, and the religious sensitivities of humanity in particular, have been formed by supernatural powers working through natural processes” (3). Second-order supernaturalism is a kind of theism, more closely akin to deism than, say, Christianity or Buddhism. It is, as such, universal (according to contemporary psychology of religion), empirically supported (according to philosophy in the form of the Fine-Tuning Argument), and beneficial (and so justified pragmatically). With respect to its pragmatic value, second-order supernaturalism, according to M&M, gets the good(s) of religion (cooperation, trust, etc) without its bad(s) (conflict and violence). Second-order supernaturalism is thus rational (and possibly true) and inconducive to violence. In this paper, I will examine just one small but important part of M&M’s argument: the claim that (first-order) religion is a primary motivator of violence and that its elimination would eliminate or curtail a great deal of violence in the world. Imagine, they say, no religion, too.Janusz Salamon offers a friendly extension or clarification of M&M’s second-order theism, one that I think, with emendations, has promise. He argues that the core of first-order religions, the belief that Ultimate Reality is the Ultimate Good (agatheism), is rational (agreeing that their particular claims are not) and, if widely conceded and endorsed by adherents of first-order religions, would reduce conflict in the world.While I favor the virtue of intellectual humility endorsed in both papers, I will argue contra M&M that (a) belief in first-order religion is not a primary motivator of conflict and violence (and so eliminating first-order religion won’t reduce violence). Second, partly contra Salamon, who I think is half right (but not half wrong), I will argue that (b) the religious resources for compassion can and should come from within both the particular (often exclusivist) and the universal (agatheistic) aspects of religious beliefs. Finally, I will argue that (c) both are guilty, as I am, of the philosopher’s obsession with belief. 

Evidence for general base catalysis by protic solvents in a kinetic study of alcoholyses and hydrolyses of 1-(phenoxycarbonyl)pyridinium ions under both solvolytic and non-solvolytic conditions

2009 ◽  
Vol 74 (1) ◽  
pp. 43-55 ◽  
Author(s):  
Dennis N. Kevill ◽  
Byoung-Chun Park ◽  
Jin Burm Kyong
Keyword(s):  
Second Order ◽  
Base Catalysis ◽  
Substitution Reactions ◽  
Third Order ◽  
Methoxy Derivative ◽  
First Order ◽  
General Base ◽  
Protic Solvents ◽  
Kinetics Of ◽  
Pyridinium Ions

The kinetics of nucleophilic substitution reactions of 1-(phenoxycarbonyl)pyridinium ions, prepared with the essentially non-nucleophilic/non-basic fluoroborate as the counterion, have been studied using up to 1.60 M methanol in acetonitrile as solvent and under solvolytic conditions in 2,2,2-trifluoroethan-1-ol (TFE) and its mixtures with water. Under the non- solvolytic conditions, the parent and three pyridine-ring-substituted derivatives were studied. Both second-order (first-order in methanol) and third-order (second-order in methanol) kinetic contributions were observed. In the solvolysis studies, since solvent ionizing power values were almost constant over the range of aqueous TFE studied, a Grunwald–Winstein equation treatment of the specific rates of solvolysis for the parent and the 4-methoxy derivative could be carried out in terms of variations in solvent nucleophilicity, and an appreciable sensitivity to changes in solvent nucleophilicity was found.

Metaontology

2018 ◽  
Author(s):  
Uriah Kriegel
Keyword(s):  
Second Order ◽  
Order Property ◽  
First Order ◽  
First Approximation

Brentano’s theory of judgment serves as a springboard for his conception of reality, indeed for his ontology. It does so, indirectly, by inspiring a very specific metaontology. To a first approximation, ontology is concerned with what exists, metaontology with what it means to say that something exists. So understood, metaontology has been dominated by three views: (i) existence as a substantive first-order property that some things have and some do not, (ii) existence as a formal first-order property that everything has, and (iii) existence as a second-order property of existents’ distinctive properties. Brentano offers a fourth and completely different approach to existence talk, however, one which falls naturally out of his theory of judgment. The purpose of this chapter is to present and motivate Brentano’s approach.

Categoricity and the sets

2018 ◽  
Author(s):  
Tim Button ◽  
Sean Walsh
Keyword(s):  
Set Theory ◽  
Second Order ◽  
Order Logic ◽  
First Order ◽  
The Status ◽  
Second Order Logic ◽  
Philosophy Of Set Theory ◽  
Order Set

In this chapter, the focus shifts from numbers to sets. Again, no first-order set theory can hope to get anywhere near categoricity, but Zermelo famously proved the quasi-categoricity of second-order set theory. As in the previous chapter, we must ask who is entitled to invoke full second-order logic. That question is as subtle as before, and raises the same problem for moderate modelists. However, the quasi-categorical nature of Zermelo's Theorem gives rise to some specific questions concerning the aims of axiomatic set theories. Given the status of Zermelo's Theorem in the philosophy of set theory, we include a stand-alone proof of this theorem. We also prove a similar quasi-categoricity for Scott-Potter set theory, a theory which axiomatises the idea of an arbitrary stage of the iterative hierarchy.

Out-of-plane static compression and energy absorption of paper hierarchical corrugation sandwich panels

2021 ◽  
pp. 030932472110085
Author(s):  
Huineng Wang ◽  
Yanfeng Guo ◽  
Yungang Fu ◽  
Dan Li
Keyword(s):  
Yield Strength ◽  
Bearing Capacity ◽  
Energy Absorption ◽  
Sandwich Panel ◽  
Second Order ◽  
Compression Rate ◽  
Static Compression ◽  
First Order ◽  
Out Of Plane ◽  
Analytical Approaches

This study introduces the opinion of the corrugation hierarchy to develop the second-order corrugation paperboard, and explore the deformation characteristics, yield strength, and energy absorbing capacity under out-of-plane static evenly compression loading by experimental and analytical approaches. On the basis of the inclined-straight strut elements of corrugation unit and plastic hinge lines, the yield and crushing strengths of corrugation unit were analyzed. This study shows that as the compressive stress increases, the second-order corrugation core layer is firstly crushed, and the first-order corrugation structures gradually compacted until the failure of entire structure. The corrugation type has an obvious influence on the yield strength of the corrugation sandwich panel, and the yield strength of B-flute corrugation sandwich panel is wholly higher than that of the C-flute structure. At the same compression rate, the flute type has a significant impact on energy absorption, and the C-flute second-order corrugation sandwich panel has better bearing capacity than the B-flute structure. The second-order corrugation sandwich panel has a better bearing capacity than the first-order structure. The static compression rate has little effect on the yield strength and deformation mode. However, with the increase of the static compression rate, the corrugation sandwich panel has a better cushioning energy absorption and material utilization rate.

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