Parallel robots with SCARA（selective compliance assembly robot arm） motions are utilized widely in the field of high speed pick-and-place manipulation. Error modeling for these robots generally simplifies the parall...Parallel robots with SCARA（selective compliance assembly robot arm） motions are utilized widely in the field of high speed pick-and-place manipulation. Error modeling for these robots generally simplifies the parallelogram structures included by the robots as a link. As the established error model fails to reflect the error feature of the parallelogram structures, the effect of accuracy design and kinematic calibration based on the error model come to be undermined. An error modeling methodology is proposed to establish an error model of parallel robots with parallelogram structures. The error model can embody the geometric errors of all joints, including the joints of parallelogram structures. Thus it can contain more exhaustively the factors that reduce the accuracy of the robot. Based on the error model and some sensitivity indices defined in the sense of statistics, sensitivity analysis is carried out. Accordingly, some atlases are depicted to express each geometric error’s influence on the moving platform’s pose errors. From these atlases, the geometric errors that have greater impact on the accuracy of the moving platform are identified, and some sensitive areas where the pose errors of the moving platform are extremely sensitive to the geometric errors are also figured out. By taking into account the error factors which are generally neglected in all existing modeling methods, the proposed modeling method can thoroughly disclose the process of error transmission and enhance the efficacy of accuracy design and calibration.展开更多
Two 3d-4f-5d heterometallic cluster-containing polyoxometalates,formulated as Na_(22){(SbW_(9)O_(33))_(4)[La_(3)W_(6)MO_(18)(H_(2)O)_(8)(CH_(3)COO)_(4)]_(2)}·nH_(2)O(abbreviated as La_(6)M_(2),M=Co/Mn)were synthe...Two 3d-4f-5d heterometallic cluster-containing polyoxometalates,formulated as Na_(22){(SbW_(9)O_(33))_(4)[La_(3)W_(6)MO_(18)(H_(2)O)_(8)(CH_(3)COO)_(4)]_(2)}·nH_(2)O(abbreviated as La_(6)M_(2),M=Co/Mn)were synthesized and structurally characterized.Single-crystal X-ray diffraction analyses reveal that the polyanions of La_(6)Co_(2)and La_(6)Mn_(2)consist of the uncommon 3d-4f-5d clusters{La_(6)W_(12)Co_(2)}and{La_(6)W_(12)Mn_(2)},which are encapsulated by four trilacunary Keggin tungstoantimonates to form the parallelogram-shaped title compounds.Additionally,the polyanions can be extended into a two-dimensional(2D)frame by the linkage of peripheral Na+ions.The inner space of the 2D layer was filled with water molecules and thus an H-bonded network was formed,which is expected to exhibit a fascinating proton conductivity.The study of water-assisted proton conduction demonstrated that La_(6)Co_(2)and La_(6)Mn_(2)were temperature-and humiditydependent proton conductors,respectively,and the proton conductivities could reach 1.3×10^(-2)and 2.3×10^(-2)S/cm at 65℃and 90%RH conditions.展开更多
The main objective of the present investigation is to study the vibration of visco-elastic parallelogram plate whose thickness varies parabolically. It is assumed that the plate is clamped on all the four edges and th...The main objective of the present investigation is to study the vibration of visco-elastic parallelogram plate whose thickness varies parabolically. It is assumed that the plate is clamped on all the four edges and that the thickness varies parabolically in one direction i.e. along length of the plate. Rayleigh-Ritz technique has been used to determine the frequency equation. A two terms deflection function has been used as a solution. For visco-elastic, the basic elastic and viscous elements are combined. We have taken Kelvin model for visco-elasticity that is the combination of the elastic and viscous elements in parallel. Here the elastic element means the spring and the viscous element means the dashpot. The assumption of small deflection and linear visco-elastic properties of “Kelvin” type are taken. We have calculated time period and deflection at various points for different values of skew angles, aspect ratio and taper constant, for the first two modes of vibration. Results are supported by tables. Alloy “Duralumin” is considered for all the material constants used in numerical展开更多
Efron (1997) considered several approximations of p-values for simultaneous hypothesis testing. An extension of his approaches is considered here to approximate various probabilities of correlated events. Compared wit...Efron (1997) considered several approximations of p-values for simultaneous hypothesis testing. An extension of his approaches is considered here to approximate various probabilities of correlated events. Compared with multiple-integrations, our proposed method, the parallelogram formulas, based on a one-dimensional integral, not only substantially reduces the computational complexity but also maintains good accuracy. Applications of the proposed method to genetic association studies and group sequential analysis are investigated in detail. Numerical results including real data analysis and simulation studies demonstrate that the proposed method performs well.展开更多
基金Supported by National Natural Science Foundation of China(Grant No.51305222)National Key Scientific and Technological Program of China(Grant No.2013ZX04001-021)
文摘Parallel robots with SCARA（selective compliance assembly robot arm） motions are utilized widely in the field of high speed pick-and-place manipulation. Error modeling for these robots generally simplifies the parallelogram structures included by the robots as a link. As the established error model fails to reflect the error feature of the parallelogram structures, the effect of accuracy design and kinematic calibration based on the error model come to be undermined. An error modeling methodology is proposed to establish an error model of parallel robots with parallelogram structures. The error model can embody the geometric errors of all joints, including the joints of parallelogram structures. Thus it can contain more exhaustively the factors that reduce the accuracy of the robot. Based on the error model and some sensitivity indices defined in the sense of statistics, sensitivity analysis is carried out. Accordingly, some atlases are depicted to express each geometric error’s influence on the moving platform’s pose errors. From these atlases, the geometric errors that have greater impact on the accuracy of the moving platform are identified, and some sensitive areas where the pose errors of the moving platform are extremely sensitive to the geometric errors are also figured out. By taking into account the error factors which are generally neglected in all existing modeling methods, the proposed modeling method can thoroughly disclose the process of error transmission and enhance the efficacy of accuracy design and calibration.
基金supported by the National Natural Science Foundation of China(No.22071045)the Excellent Youth Science Fund Project of Henan Province(No.202300410042)+2 种基金the Natural Science Foundation of Henan Province(No.232300420372)Henan Universitythe State Key Laboratory of Physical Chemistry of the Solid Surface of Xiamen University。
文摘Two 3d-4f-5d heterometallic cluster-containing polyoxometalates,formulated as Na_(22){(SbW_(9)O_(33))_(4)[La_(3)W_(6)MO_(18)(H_(2)O)_(8)(CH_(3)COO)_(4)]_(2)}·nH_(2)O(abbreviated as La_(6)M_(2),M=Co/Mn)were synthesized and structurally characterized.Single-crystal X-ray diffraction analyses reveal that the polyanions of La_(6)Co_(2)and La_(6)Mn_(2)consist of the uncommon 3d-4f-5d clusters{La_(6)W_(12)Co_(2)}and{La_(6)W_(12)Mn_(2)},which are encapsulated by four trilacunary Keggin tungstoantimonates to form the parallelogram-shaped title compounds.Additionally,the polyanions can be extended into a two-dimensional(2D)frame by the linkage of peripheral Na+ions.The inner space of the 2D layer was filled with water molecules and thus an H-bonded network was formed,which is expected to exhibit a fascinating proton conductivity.The study of water-assisted proton conduction demonstrated that La_(6)Co_(2)and La_(6)Mn_(2)were temperature-and humiditydependent proton conductors,respectively,and the proton conductivities could reach 1.3×10^(-2)and 2.3×10^(-2)S/cm at 65℃and 90%RH conditions.
文摘The main objective of the present investigation is to study the vibration of visco-elastic parallelogram plate whose thickness varies parabolically. It is assumed that the plate is clamped on all the four edges and that the thickness varies parabolically in one direction i.e. along length of the plate. Rayleigh-Ritz technique has been used to determine the frequency equation. A two terms deflection function has been used as a solution. For visco-elastic, the basic elastic and viscous elements are combined. We have taken Kelvin model for visco-elasticity that is the combination of the elastic and viscous elements in parallel. Here the elastic element means the spring and the viscous element means the dashpot. The assumption of small deflection and linear visco-elastic properties of “Kelvin” type are taken. We have calculated time period and deflection at various points for different values of skew angles, aspect ratio and taper constant, for the first two modes of vibration. Results are supported by tables. Alloy “Duralumin” is considered for all the material constants used in numerical
基金supported by the Intramural Program of NIHsupported in part by National Natural Science Foundation of China (Grant No.10901155)supportedin part by NIH (Grant No. EY014478).
文摘Efron (1997) considered several approximations of p-values for simultaneous hypothesis testing. An extension of his approaches is considered here to approximate various probabilities of correlated events. Compared with multiple-integrations, our proposed method, the parallelogram formulas, based on a one-dimensional integral, not only substantially reduces the computational complexity but also maintains good accuracy. Applications of the proposed method to genetic association studies and group sequential analysis are investigated in detail. Numerical results including real data analysis and simulation studies demonstrate that the proposed method performs well.
