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This paper addresses the orientation-singularity and orientationability analyses of a special class of the Stewart–Gough parallel manipulators whose moving and base platforms are two similar semi-symmetrical hexagons. Employing a unit quaternion to represent the orientation of the moving platform, an analytical expression representing the singularity locus of this class of parallel manipulators in a six-dimensional Cartesian space is obtained. It shows that for a given orientation, the position-singularity locus is a cubic polynomial expression in the moving platform position parameters, and for a given position, the orientation-singularity locus is an analytical expression but not a polynomial directly with respect to the mobile platform orientation parameters. Further inspection shows that for the special class of parallel manipulators, there must exist a nonsingular orientation void in the orientation space around the orientation origin for each position in the position-workspace. Therefore, a new performance index referred to as orientationability is introduced to describe the orientation capability of the special class of manipulators at a given position. A discretization algorithm is proposed for the computation of the orientationability of the special class of manipulators. Moreover, effects of the design parameters and position parameters on the orientationability are investigated in details. Based on the orientationability performance index, another novel performance index referred to as practical orientationability is presented which represents the practical orientation capability of the manipulator at a given position. The practical orientationability not only can satisfy all the kinematic demands and constraints of such class of manipulators, but also can guarantee that the manipulator is nonsingular. 相似文献
85.
Cao Dongyang Malakooti Sadeq Kulkarni Vijay N. Ren Yao Lu Hongbing 《Mechanics of Time-Dependent Materials》2021,25(3):353-363
Mechanics of Time-Dependent Materials - Debonding at the core–skin interphase region is one of the primary failure modes in core sandwich composites under shear loads. As a result, the... 相似文献
86.
本文考虑到变形区内切应力非线性分布的特点,采用球坐标系下的平衡微分方程和塑性条件联立求解,得出圆棒热挤压时变形区入口球面上的应力分布方程,然后应用功平衡法导出了圆棒热挤压力的计算公式。 相似文献
87.
Ping Fan Jing-rong Chi Guang-xing Liang Xing-min Cai Dong-ping Zhang Zhuang-hao Zheng Peng-ju Cao Tiao-bao Chen 《Journal of Materials Science: Materials in Electronics》2012,23(11):1957-1960
Cu(In, Ga)Se2 (CIGS) thin films were fabricated by ion beam sputtering deposition from a single quaternary target at different substrate temperatures (T sub). The thin films were characterized with X-ray diffractometry, scanning electron microscopy, energy-dispersive X-ray spectroscopy and four-point probe technique to study the microstructures, surface morphology, composition and electrical properties, respectively. The results show that the films grown above 400?°C are of chalcopyrite structure. Cu(In0.7Ga0.3)Se2 thin film was obtained when T sub is 550?°C. The Cu and Se atomic percentage when T sub is above 500?°C is higher than when T sub is below 500?°C. With the increase in T sub, the surfaces morphology of the films is denser and the resistivity of the films decreases. 相似文献
88.
Chunjie Wang Yue Wang Yongliang Cheng Wenzhi Huang Zuhair S. Khan Xizhi Fan Ying Wang Binglin Zou Xueqiang Cao 《Journal of Materials Science》2012,47(10):4392-4399
Rare earth zirconates (Ln2Zr2O7, Ln = La, Nd, Sm, and Gd) with pyrochlore structure were prepared by hydrothermal method with polyethylene glycol as surfactant.
X-ray diffraction, thermogravimetric analysis/differential scanning calorimetry, Fourier transform infrared spectroscopy,
Raman spectroscopy, and field emission scanning electron microscopy were utilized to characterize the phase structure, thermal
decomposition, and morphology of the products. Qualitative analysis indicates that the as-prepared zirconates are pyrochlore-type
structures. The specific surface area, lattice parameter, and average crystallite size of the as-prepared products are closely
related to the ionic radius. The activation energy of crystal growth shows an increasing trend with the decrease in ionic
radii. The sintering behavior of compacted body was also investigated, revealing that the sintering-resistance properties
of Ln2Zr2O7 are descending as the order of La2Zr2O7, Nd2Zr2O7, Sm2Zr2O7, and Gd2Zr2O7. 相似文献
89.