A cable-driven parallel manipulator is a manipulator whose end-effector is driven by a number of parallel cables instead of
rigid links. Since cables always have more flexibility than rigid links, a cable manipulator bears a concern of possible vibration.
Thus, investigation of vibration of cable manipulators caused by cable flexibility is important for applications requiring
high system stiffness or bandwidth. This paper provides a vibration analysis of general 6-DOF cable-driven parallel manipulators.
Based on the analysis of the natural frequencies of the multibody system, the study demonstrates that a cable manipulator
can be designed stiff enough for special applications like the cable-manipulator based hardware-in-the-loop simulation of
contact dynamics. Moreover, under an excitation, a cable may vibrate not only in its axial direction, but also in its transversal
direction. The paper also analyzes the vibration of cable manipulators caused by cable flexibilities in both axial and transversal
directions. It is shown that the vibration of a cable manipulator due to the transversal vibration of cables can be ignored
comparing to that due to the axial flexibility of cables. 相似文献
The goal of holographic particle velocimetry is to infer fluid velocity patterns from images reconstructed from doubly exposed holograms of fluid volumes seeded with small particles. The advantages offered by in-line holography in this context usually make it the method of choice, but seeding densities sufficient to achieve high spatial resolution in the sampling of the velocity fields cause serious degradation, through speckle, of the signal-to-noise ratio in the reconstructed images. The in-line method also leads to a great depth of field in paraxial viewing of reconstructed images, making it essentially impossible to estimate particle depth with useful accuracy. We present here an analysis showing that these limitations can be circumvented by variably scaled correlation, or wavelet transformation. The shift variables of the wavelet transform are provided automatically by the optical correlation methodology. The variable scaling of the wavelet transform derives, in this case, directly from the need to accommodate varying particle depths. To provide such scaling, we use a special optical system incorporating prescribed variability in spacings and focal length of lenses to scan through the range of particle depths.
Calculation shows, among other benefits, improvement by approximately two orders of magnitude in depth resolution. A much higher signal-to-noise ratio together with faster data extraction and processing should be attainable.
With the development of organic solar cells (OSCs), the high-performance and stable batch variance are becoming a new challenge for designing polymer donors. To obtain high photovoltaic performance, adopting polymers with high molecular weight as donors is an ordinary strategy. However, the high molecular weight need to subtly control the reaction time and state, inevitably caused batch-to-batch variations. Herein, a strategy of steric effect is applied to benzodifuran (BDF)-based polymer by introducing different positions of Cl atom, producing two polymers PBDFCl-1 and PBDFCl-2. The more twisted side chains conformation not only achieve the control of moderate molecular weight for PBDFCl-2, but also easily form molecular stacking through adopting BDF unit and maintain sufficient polymeric crystallinity. Due to the optimized stacking mode and good blend miscibility, PBDFCl-2-based device exhibitsa more elegant power conversion efficiency (PCE) of 17.00% compared to PBDFCl-1-based device. This is the highest efficiency record for BDF-based binary OSCs. Meanwhile, the PCE device variation of the different molecular weights for PBDFCl-2 is little, indicating the reduction of the batch variation. Therefore, smartly using steric effect of Cl atom in strong crystalline BDF unit can form efficient molecular stacking regulations and realize the coordination of high-performance and stable batch variance. 相似文献