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In this paper, we present a general method to calculate the inverse and direct dynamic models of parallel robots. The models
are expressed in a closed form by a single equation in which all the elements needed are expressed. The solution is given
in terms of the dynamic models of the legs, the dynamics of the platform and some Jacobian matrices. The proposed method is
applied in this paper on two parallel robots with different structures.
Categories (2), (3). 相似文献
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The use of neural networks as global approximation tool in crashworthiness problems is here investigated. Neural networks are not only asked to return some meaningful indices of the structural behavior but also to reproduce load-time curves during crash phenomena. To contain the number of examples required for the training process, parallel subsystems of small neural networks are designed. Design points for the training process are obtained by explicit finite element analyses performed by PAMCRASH. The settlement of the points in the design domain is defined using a maximum distance concept. The procedure is applied to different typical absorption structures made of aluminum alloy: riveted tubes, honeycomb structures, longitudinal keel beam and intersection elements of helicopter subfloors. 相似文献
46.
D. A. Gubaidullin R. G. Zaripov R. G. Galiullin E. R. Galiullina L. A. Tkachenko 《High Temperature》2004,42(5):794-802
Nonlinear oscillation of aerosol in the vicinity of a resonance frequency that is twice lower than the first eigenfrequency (subharmonic resonance) is experimentally investigated in tubes with different conditions at the ends. The time dependence of the number density of aerosol droplets is determined, and the effect of the frequency and intensity of oscillation on the process of coagulation of droplets is studied. The nonmonotonic pattern of the dependence of the time of coagulation of aerosol droplets on the frequency of excitation with a minimal value at resonance is found. Ordered space-time structures (alternation of denser and looser regions of aerosol) are revealed in the visible region in the vicinity of the middle of a closed tube. 相似文献
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Friendship affects individual and organizational well-being through direct relations, social positions, and complex network structures. In this study, the authors use longitudinal data from 2 groups of master's of business administration students to increase understanding of how friendship networks develop. The authors propose and test a dynamic model in which attribute similarity facilitates dyadic friendship ties, as well as similar network centrality and social position; early friendship increases later similarity in structural position and centrality; and early structural similarity enhances the likelihood of future friendship. Findings largely supported the model, demonstrating how homophily and early social contacts can jointly shape maturing friendship networks. (PsycINFO Database Record (c) 2010 APA, all rights reserved) 相似文献
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Stretching dominated Kagome lattices reinforced by carbon fibers were designed and manufactured. The sandwich panels were assembled with bonded laminate skins. The mechanical behaviors of the sandwich panels were tested by out-of-plane compression, in-plane compression and three-point bending. Different failure modes of the sandwich structures were revealed. The experimental results showed that the carbon fiber reinforced lattice grids are much stiffer and stronger than foams and honeycombs. It was found that buckling and debonding dominate the mechanical behavior of the sandwich structures, and that more complaint skin sheets might further improve the overall mechanical performance of the sandwich panels. 相似文献