This research presents Pure Condition approach, which has used in analyzing simultaneously the singularity configuration and the rigidity of mechanism. The study cases analysis is implemented on variable joints orient...This research presents Pure Condition approach, which has used in analyzing simultaneously the singularity configuration and the rigidity of mechanism. The study cases analysis is implemented on variable joints orientation of 6R (Revolute) Serial Manipulators (SMs) and variable actuated joints position of 3-PRS (Prismatic-Revolute-Spherical) Parallel Manipulators (PMs) using Grassmann-Cayley Algebra (GCA). In this work we require in Projective Space both Twist System (TS) and Global Wrench System (GWS) respectively for serial and parallel manipulators which represent the Jacobian Matrix (J) in symbolic approach to Plücker coordinate vector of lines and unify framework on static and kinematics respectively. This paper, works, is designed to determine geometrically at symbolic level the vanished points of inverse form of this Jacobian Matrix (J) which called superbracket in GCA. The investigation vary to those reported early by introducing GCA approach on the singularity of serial robot, variable joints orientation and actuated positions on robot manipulators (RMs) to analyze rigidity frame work and singularity configuration which involve simultaneously Pure Condition. And the results also revealed a single singularity condition which contains all particulars cases and three general cases such as the shoulder, elbow and wrist singularity for SMs while double, single and undermined singularities respectively for 3-PRS, 3-PRS and 3-PRS PMs which contain all generals and particulars cases.展开更多
1 Results We have recently reported the successful use of some new ionophores in construction of PVC-based membrane selective sensors for Fe3+,Ni2+,Co2+,Hg2+ and Cd2+ ions by some Schiff base ligands. Schiff bases are...1 Results We have recently reported the successful use of some new ionophores in construction of PVC-based membrane selective sensors for Fe3+,Ni2+,Co2+,Hg2+ and Cd2+ ions by some Schiff base ligands. Schiff bases are one of the most important classes of ligand in coordination chemistry. In this work we reported the optimized structures of four tetra dentate mono azo Schiff base compounds.Using AM1,PM3 and MNDO semi-empirical methods for the optimization of the compounds,then we compared all of theoreti...展开更多
文摘This research presents Pure Condition approach, which has used in analyzing simultaneously the singularity configuration and the rigidity of mechanism. The study cases analysis is implemented on variable joints orientation of 6R (Revolute) Serial Manipulators (SMs) and variable actuated joints position of 3-PRS (Prismatic-Revolute-Spherical) Parallel Manipulators (PMs) using Grassmann-Cayley Algebra (GCA). In this work we require in Projective Space both Twist System (TS) and Global Wrench System (GWS) respectively for serial and parallel manipulators which represent the Jacobian Matrix (J) in symbolic approach to Plücker coordinate vector of lines and unify framework on static and kinematics respectively. This paper, works, is designed to determine geometrically at symbolic level the vanished points of inverse form of this Jacobian Matrix (J) which called superbracket in GCA. The investigation vary to those reported early by introducing GCA approach on the singularity of serial robot, variable joints orientation and actuated positions on robot manipulators (RMs) to analyze rigidity frame work and singularity configuration which involve simultaneously Pure Condition. And the results also revealed a single singularity condition which contains all particulars cases and three general cases such as the shoulder, elbow and wrist singularity for SMs while double, single and undermined singularities respectively for 3-PRS, 3-PRS and 3-PRS PMs which contain all generals and particulars cases.
基金Supported by the Laboratory of Science and Technology on Combustion and Explosion(9140C3501021101)the Innovation Funding from the Graduate School of NJUST for partial financial~~
文摘1 Results We have recently reported the successful use of some new ionophores in construction of PVC-based membrane selective sensors for Fe3+,Ni2+,Co2+,Hg2+ and Cd2+ ions by some Schiff base ligands. Schiff bases are one of the most important classes of ligand in coordination chemistry. In this work we reported the optimized structures of four tetra dentate mono azo Schiff base compounds.Using AM1,PM3 and MNDO semi-empirical methods for the optimization of the compounds,then we compared all of theoreti...
