A Hexagonal Prism Folding for Membrane Packaging Based on Concepts of Finite Rigid Motion and Kinematic Synthesis

2016 ◽  
Author(s):  
Kassim Abdul-Sater
Keyword(s):  
Spatial Configuration ◽  
Rigid Motion ◽  
Building Blocks ◽  
Computational Procedure ◽  
Hexagonal Prism ◽  
Linkage Mechanism ◽  
Space Applications ◽  
Kinematic Synthesis ◽  
Kinematic Chains ◽  
Position Synthesis

This paper discusses the use of concepts of finite rigid body kinematics as well as kinematic synthesis in non-rigid, engineering folding problems. The exemplary task consists in designing a folding pattern, which allows to fold a circular sheet from a flat unfolded state into a prescribed compact spatial configuration that forms a hexagonal prism. Other two-configuration design problems may be found for instance in space applications where membranes in tensegrity reflector antennas need to be stowed in a spacecraft. The folding motion could be actuated using an appropriately designed linkage mechanism attached to the membrane, which, however, is not considered in this paper. The specific result of this work is a creative but systematic and computational procedure for crease pattern design. The approach is essentially based on the relative kinematics equations of serial kinematic chains and the finite position synthesis of linkage building blocks. These techniques sucessively combine to segment a flat bounded surface, such that it can reach the prescribed spatial configuration.

Controllable Synthesis of Cobalt Porphyrin Nanocrystals through Micelle Confinement Self-Assembly

MRS Advances ◽  
2020 ◽  
Vol 5 (42) ◽  
pp. 2147-2155
Author(s):  
Sudi Chen ◽  
Xitong Ren ◽  
Shufang Tian ◽  
Jiajie Sun ◽  
Feng Bai
Keyword(s):  
Self Assembly ◽  
Water Oxidation ◽  
Separation Efficiency ◽  
Noncovalent Interactions ◽  
Building Blocks ◽  
The Self ◽  
Hexagonal Prism ◽  
Assembly Process ◽  
Surfactant Micelles ◽  
Cobalt Porphyrin

AbstractThe self-assembly of optically active building blocks into functional nanocrystals as high-activity photocatalysts is a key in the field of photocatalysis. Cobalt porphyrin with abundant catalytic properties is extensively studied in photocatalytic water oxidation and CO2 reduction. Here, we present the fabrication of cobalt porphyrin nanocrystals through a surfactant-assisted interfacial self-assembly process using Co-tetra(4-pyridyl) porphyrin as building block. The self-assembly process relies on the combined noncovalent interactions such as π-π stacking and axial Co-N coordination between individual porphyrin molecules within surfactant micelles. Tuning different reaction conditions (temperature, the ratio of co-solvent DMF) and types of surfactant, various nanocrystals with well-defined 1D to 3D morphologies such as nanowires, nanorods and nano hexagonal prism were obtained. Due to the ordered accumulation of molecules, the nanocrystals exhibit the properties of the enhanced capability of visible light capture and can conduce to improve the transport and separation efficiency of the photogenerated carriers, which is important for photocatalysis. Further studies of photocatalytic CO2 reduction are being performed to address the relationship between the size and shape of the nanocrystals with the photocatalytic activity.

Kinematics of the RRR, RRT (Passive) and RRRR, RRRT (Active) Linkage-Mechanism Building Blocks With Applications and Reporting of New Findings

2019 ◽  
Vol 11 (6) ◽  
Author(s):  
P. A. Simionescu
Keyword(s):  
Closed Form ◽  
Building Blocks ◽  
Linkage Mechanism ◽  
Deployable Structures ◽  
Optimum Synthesis ◽  
New Findings

Abstract Closed-form equations for the analyses of the RRR and RRT (passive) and of the RRRR and RRRT (active) kinematic building blocks are presented in the paper. Implementations of these equations in computer subroutine are then discussed. Applications chosen to illustrate the usefulness of these subroutines include optimum synthesis of a function-generating mechanism, deployable structures, radial engines, a tire-curing press, and the concomitant simulation of four-bar and crank-slider coupler cognates. For the latter, properties not yet reported have been revealed through numerical experimentations.

Kinematic Synthesis of Minimally Actuated Multi-Loop Planar Linkages With Second Order Motion Constraints for Object Grasping

2013 ◽  
Author(s):  
Gim Song Soh ◽  
Nina Robson
Keyword(s):  
Second Order ◽  
Human Robot Interaction ◽  
Degree Of Freedom ◽  
Dimensional Synthesis ◽  
Open Problems ◽  
Kinematic Synthesis ◽  
Human Environment ◽  
Kinematic Chains ◽  
Curvature Effects ◽  
Planar Linkages

In this paper, we consider the dimensional synthesis of one degree-of-freedom multi-loop planar linkages such that they do not violate normal direction and second order curvature constraints imposed by contact with objects. Our goal is in developing minimally actuated multi-loop mechanical devices for human-robot interaction, that is, devices whose tasks will happen in a human environment. Currently no systematic method exists for the kinematic synthesis of robotic fingers that incorporate multi-loop kinematic structure with second order task constraints, related to curvature. We show how to use these contact and curvature effects to formulate the synthesis equations for the design of a planar one-degree-of-freedom six-bar linkage. An example for the design of a finger that maintains a specified contact with an object, for an anthropomorphic task, is presented at the end of the paper. It is important to note, that the theoretical foundation presented in this paper, assists in solving some of the open problems of this field, providing preliminary results on the synthesis of kinematic chains with multi-loop topology and the use of novel task specifications that incorporate curvature constraints with future applications in grasping and object manipulation.

scholarly journals Kinematic Synthesis and Analysis of the RoboMech Class Parallel Manipulator with Two Grippers

Robotics ◽  
2021 ◽  
Vol 10 (3) ◽  
pp. 99
Author(s):  
Zhumadil Baigunchekov ◽  
Med Amine Laribi ◽  
Azamat Mustafa ◽  
Abzal Kassinov
Keyword(s):  
Parallel Manipulator ◽  
Degrees Of Freedom ◽  
Geometric Parameters ◽  
Geometric Constraints ◽  
Least Square ◽  
Kinematic Synthesis ◽  
Serial Manipulators ◽  
Kinematic Chains ◽  
End Effectors ◽  
Cold Stamping

In this paper, methods of kinematic synthesis and analysis of the RoboMech class parallel manipulator (PM) with two grippers (end effectors) are presented. This PM is formed by connecting two output objects (grippers) with a base using two passive and one negative closing kinematic chains (CKCs). A PM with two end effectors can be used for reloading operations of stamped products between two adjacent main technologies in a cold stamping line. Passive CKCs represent two serial manipulators with two degrees of freedom, and negative CKC is a three-joined link with three negative degrees of freedom. A negative CKC imposes three geometric constraints on the movements of the two output objects. Geometric parameters of the negative CKC are determined on the basis of the problems of the Chebyshev and least-square approximations. Problems of positions and analogues of velocities and accelerations of the PM with two end effectors have been solved.

A Comparative Study on Some Modular Approaches for Analysis and Synthesis of Planar Linkages: Part II — Modular Dynamic Analysis, Modular Structural Synthesis and Modular Kinematic Synthesis

1998 ◽  
Author(s):  
Ting-Li Yang ◽  
Fang-Hua Yao ◽  
Ming Zhang
Keyword(s):  
Structural Analysis ◽  
Comparative Study ◽  
Dynamic Analysis ◽  
Structural Synthesis ◽  
Dynamical Equations ◽  
Kinematic Synthesis ◽  
Automated Generation ◽  
Kinematic Chains ◽  
Analysis And Synthesis ◽  
Planar Linkages

Abstract This paper presents a systematical comparative study of various modular methods based on the different module types: basic kinematic chains (BKCs), single opened chains (SOCs), loops (or a tree and co-tree), links-joints, etc. for analysis and synthesis of structure, kinematics and dynamics of planar linkages. The basic idea is that any linkage can be divided into (or built up by) some modular components in sequence, and based on the component constraints and network entirty constraints of the linkage, the unified modular approaches have been used for analysis and synthesis. In systematical comparative study, the main issues of a modular method have been discussed, such as: the topological characteristics revealed via different module types; the dimension of a set of kinematic equations; the automated generation and solution of kinematic equations; the dimension and automated generation of dynamical equations, and computation complexity for generating and solving dynamical equation; the automated generation of structural analysis and type synthesis; the generation of kinematic synthesis equations etc.. This paper gives a summary of the use of modular techniques for analyzing and synthesizing planar linkages in the recently thirty years. This comparative study includes two parts: Part I-modular structural analysis and modular kinematic analysis; Part II-modular dynamic analysis, modular structural synthesis and modular kinematic synthesis. This paper is the second part.

A Comparative Study on Some Modular Approaches for Analysis and Synthesis of Planar Linkages: Part I — Modular Structural Analysis and Modular Kinemaic Analysis

1998 ◽  
Author(s):  
Ting-Li Yang ◽  
Fang-Hua Yao ◽  
Ming Zhang
Keyword(s):  
Structural Analysis ◽  
Comparative Study ◽  
Type Synthesis ◽  
Dynamical Equations ◽  
Kinematic Synthesis ◽  
Automated Generation ◽  
Kinematic Chains ◽  
Analysis And Synthesis ◽  
Modular Method ◽  
Planar Linkages

Abstract This paper presents a systematical comparative study of various modular methods based on the different module types: basic kinematic chains (BKCs), single opened chains (SOCs), loops (or a tree and co-tree), links-joints, etc. for analysis and synthesis of structure, kinematics and dynamics of planar linkages. The basic idea is that any linkage can be divided into (or built up by) some modular components in sequence, and based on the component constraints and network entirty constraints of the linkage, the unified modular approaches have been used for analysis and synthesis. In the systematical comparative study, the main issues of a modular method have been discussed, such as: the topological characteristics revealed via different module types; the dimension of a set of kinematic equations; the automated generation and solution of kinematic equations; the dimension and automated generation of dynamical equations, and computation complexity for generating and solving dynamical equation; the automated generation of structural analysis and type synthesis; the generation of kinematic synthesis equations etc.. This paper gives a summary of the use of modular techniques for analyzing and synthesizing planar linkages in the recently thirty years. This comparative study includes two parts: part I — modular structural analysis and modular kinematic analysis; part II — modular dynamics analysis, modular structural synthesis and modular kinematic synthesis. This paper is the first part.

Three-Position Synthesis of Origami-Evolved, Spherically Constrained Spatial Revolute–Revolute Chains

2015 ◽  
Vol 8 (1) ◽  
Author(s):  
Kassim Abdul-Sater ◽  
Manuel M. Winkler ◽  
Franz Irlinger ◽  
Tim C. Lueth
Keyword(s):  
Building Blocks ◽  
Design Parameters ◽  
Specific Task ◽  
Spherical Design ◽  
Single Degree Of Freedom ◽  
End Effector ◽  
Single Degree ◽  
Folding Pattern ◽  
Position Synthesis ◽  
Space Requirements

This paper presents a finite position synthesis (f.p.s.) procedure of a spatial single-degree-of-freedom linkage that we call origami-evolved, spherically constrained spatial revolute–revolute (RR) chain here. This terminology is chosen because the linkage may be found from the mechanism equivalent of an origami folding pattern, namely, known as the Miura-ori folding. As shown in an earlier work, the linkage under consideration has naturally given slim shape and essentially represents two specifically coupled spherical four-bar linkages, whose links may be identified with spherical and spatial RR chains. This provides a way to apply the well-developed f.p.s. theory of these linkage building blocks in order to design the origami-evolved linkage for a specific task. The result is a spherically constrained spatial RR chain, whose end effector may reach three finitely separated task positions. Due to an underspecified spherical design problem, the procedure provides several free design parameters. These can be varied in order to match further given requirements of the task. This is shown in a design example with particularly challenging space requirements, which can be fulfilled due to the naturally given slim shape.

Closed-Form Displacement Analysis of 9-Link, 2-DOF and 10-Link, 3-DOF Mechanisms

1996 ◽  
Author(s):  
Abdulaziz N. Almadi ◽  
Anoop K. Dhingra ◽  
Dilip Kohli
Keyword(s):  
Closed Form ◽  
Degrees Of Freedom ◽  
Computational Procedure ◽  
Companion Paper ◽  
Input Output ◽  
Analysis Problem ◽  
Numerical Examples ◽  
Displacement Analysis ◽  
Kinematic Chains ◽  
Solvable In Closed Form

Abstract This paper addresses the closed-form displacement analysis problem of all mechanisms which can be derived from 9-link kinematic chains with 2-DOF, and 10-link kinematic chains with 3-DOF. The successive elimination procedure developed in the companion paper is used to solve the resulting displacement analysis problems. The input-output polynomial degrees as well as the number of assembly configurations for all mechanisms resulting from 40 9-link kinematic chains, and 74 10-link kinematic chains with non-fractionated degrees of freedom (DOF) are given. The computational procedure is illustrated through two numerical examples. The displacement analysis problem for all mechanisms resulting from these chains is completely solvable, in closed-form, devoid of any spurious roots.

A Novel Paradigm for the Qualitative Synthesis of Simple Kinematic Chains Based on Complexity Measures

2011 ◽  
Vol 3 (3) ◽  
Author(s):  
Waseem A. Khan ◽  
Jorge Angeles
Keyword(s):  
Complexity Analysis ◽  
Vertical Axis ◽  
Synthesis Process ◽  
Geometric Complexity ◽  
Qualitative Synthesis ◽  
Complexity Measures ◽  
Kinematic Synthesis ◽  
Kinematic Chains ◽  
Loss Of Regularity ◽  
Four Bar Linkage

Proposed in this paper is a paradigm for the qualitative synthesis of simple kinematic chains that is based on the concept of complexity. Qualitative synthesis is understood here as the number and the type stages of the kinematic-synthesis process. The formulation hinges on the geometric complexity of the surface associated with lower kinematic pairs. First, the geometric complexity of curves and surfaces is recalled, as defined via the loss of regularity (LOR). The LOR, based in turn on the concept of diversity, measures the spectral richness of the curvature of either the curve or the surface under study. The paper closes with a complexity analysis of all six lower kinematic pairs, as a means to guide the mechanical designer into the conceptual stage of the design process. The paradigm is illustrated with the computation of the complexity of the four-bar linkage in all its versions, planar, spherical, and spatial, as well as that of a transmission for the conversion of a rotation about a vertical axis into one about a horizontal axis.

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