This paper presents a novel four degrees of freedom(DOF) parallel mechanism with the closed-loop limbs, which includes two translational(2 T) DOF and two rotational(2 R) DOF. By connecting the proposed parallel mechan...This paper presents a novel four degrees of freedom(DOF) parallel mechanism with the closed-loop limbs, which includes two translational(2 T) DOF and two rotational(2 R) DOF. By connecting the proposed parallel mechanism with the guide rail in series,the 5-DOF hybrid robot system is obtained, which can be applied for the composite material tape laying in aerospace industry. The analysis in this paper mainly focuses on the parallel module of the hybrid robot system. First, the freedom of the proposed parallel mechanism is calculated based on the screw theory. Then, according to the closed-loop vector equation, the inverse kinematics and Jacobian matrix of the parallel mechanism are carried out. Next, the workspace stiffness and dexterity analysis of the parallel mechanism are investigated based on the constraint equations, static stiffness matrix and Jacobian condition number. Finally, the correctness of the inverse kinematics and the high stiffness of the parallel mechanism are verified by the kinematics and stiffness simulation analysis, which lays a foundation for the automatic composite material tape laying.展开更多
Bitter taste reception is presumably associated with dietary selection,preventing animals from ingesting potentially harmful compounds.Accordingly,carnivores,who encounter these toxic substances less often,should have...Bitter taste reception is presumably associated with dietary selection,preventing animals from ingesting potentially harmful compounds.Accordingly,carnivores,who encounter these toxic substances less often,should have fewer genes associated with bitter taste reception compared with herbivores and omnivores.To investigate the genetic basis of bitter taste reception,we confirmed bitter taste receptor(T2R)genes previously found in the genome sequences of two herbivores(cow and horse),two omnivores(mouse and rat)and one carnivore(dog).We also identified,for the first time,the T2R repertoire from the genome of other four carnivore species(ferret,giant panda,polar bear and cat)and detected 17−20 bitter receptor genes from the five carnivore genomes,including 12−16 intact genes,0−1 partial but putatively functional genes,and 3−8 pseudogenes.Both the intact T2R genes and the total T2R gene number among carnivores were the smallest among the tested species,supporting earlier speculations that carnivores have fewer T2R genes,herbivores an intermediate number,and omnivores the largest T2R gene repertoire.To further explain the genetic basis for this disparity,we constructed a phylogenetic tree,which showed most of the T2R genes from the five carnivores were one-to-one orthologs across the tree,suggesting that carnivore T2Rs were conserved among mammals.Similarly,the small carnivore T2R family size was likely due to rare duplication events.Collectively,these results strengthen arguments for the connection between T2R gene family size,diet and habit.展开更多
Bitter taste reception is presumably associated with dietary selection, preventing animals from ingesting potentially harmful compounds. Accordingly, carnivores, who encounter these toxic substances less often, should...Bitter taste reception is presumably associated with dietary selection, preventing animals from ingesting potentially harmful compounds. Accordingly, carnivores, who encounter these toxic substances less often, should have fewer genes associated with bitter taste reception compared with herbivores and omnivores. To investigate the genetic basis of bitter taste reception, we confirmed bitter taste receptor （T2R） genes previously found in the genome sequences of two herbivores （cow and horse）, two omnivores （mouse and rat） and one carnivore （dog）. We also identified, for the first time, the T2R repertoire from the genome of other four carnivore species （ferret, giant panda, polar bear and cat） and detected 17-20 bitter receptor genes from the five carnivore genomes, including 12-16 intact genes, 0-1 partial but putatively functional genes, and 3-8 pseudogenes. Both the intact T2R genes and the total T2R gene number among carnivores were the smallest among the tested species, supporting earlier speculations that carnivores have fewer T2R genes, herbivores an intermediate number, and onmivores the largest T2R gene repertoire. To further explain the genetic basis for this disparity, we constructed a phylogenetic tree, which showed most of the T2R genes from the five carnivores were one-to-one orthologs across the tree, suggesting that carnivore T2Rs were conserved among mammals. Similarly, the small carnivore T2R family size was likely due to rare duplication events. Collectively, these results strengthen arguments for the connection between T2R gene family size, diet and habit.展开更多
基金by Fundamental Research Funds for the Central Universities(No.2018JBZ007).
文摘This paper presents a novel four degrees of freedom(DOF) parallel mechanism with the closed-loop limbs, which includes two translational(2 T) DOF and two rotational(2 R) DOF. By connecting the proposed parallel mechanism with the guide rail in series,the 5-DOF hybrid robot system is obtained, which can be applied for the composite material tape laying in aerospace industry. The analysis in this paper mainly focuses on the parallel module of the hybrid robot system. First, the freedom of the proposed parallel mechanism is calculated based on the screw theory. Then, according to the closed-loop vector equation, the inverse kinematics and Jacobian matrix of the parallel mechanism are carried out. Next, the workspace stiffness and dexterity analysis of the parallel mechanism are investigated based on the constraint equations, static stiffness matrix and Jacobian condition number. Finally, the correctness of the inverse kinematics and the high stiffness of the parallel mechanism are verified by the kinematics and stiffness simulation analysis, which lays a foundation for the automatic composite material tape laying.
基金This work was supported by the Key Project(30930015)General Project(31271329)from National Natural Science Foundation of China。
文摘Bitter taste reception is presumably associated with dietary selection,preventing animals from ingesting potentially harmful compounds.Accordingly,carnivores,who encounter these toxic substances less often,should have fewer genes associated with bitter taste reception compared with herbivores and omnivores.To investigate the genetic basis of bitter taste reception,we confirmed bitter taste receptor(T2R)genes previously found in the genome sequences of two herbivores(cow and horse),two omnivores(mouse and rat)and one carnivore(dog).We also identified,for the first time,the T2R repertoire from the genome of other four carnivore species(ferret,giant panda,polar bear and cat)and detected 17−20 bitter receptor genes from the five carnivore genomes,including 12−16 intact genes,0−1 partial but putatively functional genes,and 3−8 pseudogenes.Both the intact T2R genes and the total T2R gene number among carnivores were the smallest among the tested species,supporting earlier speculations that carnivores have fewer T2R genes,herbivores an intermediate number,and omnivores the largest T2R gene repertoire.To further explain the genetic basis for this disparity,we constructed a phylogenetic tree,which showed most of the T2R genes from the five carnivores were one-to-one orthologs across the tree,suggesting that carnivore T2Rs were conserved among mammals.Similarly,the small carnivore T2R family size was likely due to rare duplication events.Collectively,these results strengthen arguments for the connection between T2R gene family size,diet and habit.
基金supported by the Key Project (30930015)General Project (31271329) from National Natural Science Foundation of China
文摘Bitter taste reception is presumably associated with dietary selection, preventing animals from ingesting potentially harmful compounds. Accordingly, carnivores, who encounter these toxic substances less often, should have fewer genes associated with bitter taste reception compared with herbivores and omnivores. To investigate the genetic basis of bitter taste reception, we confirmed bitter taste receptor （T2R） genes previously found in the genome sequences of two herbivores （cow and horse）, two omnivores （mouse and rat） and one carnivore （dog）. We also identified, for the first time, the T2R repertoire from the genome of other four carnivore species （ferret, giant panda, polar bear and cat） and detected 17-20 bitter receptor genes from the five carnivore genomes, including 12-16 intact genes, 0-1 partial but putatively functional genes, and 3-8 pseudogenes. Both the intact T2R genes and the total T2R gene number among carnivores were the smallest among the tested species, supporting earlier speculations that carnivores have fewer T2R genes, herbivores an intermediate number, and onmivores the largest T2R gene repertoire. To further explain the genetic basis for this disparity, we constructed a phylogenetic tree, which showed most of the T2R genes from the five carnivores were one-to-one orthologs across the tree, suggesting that carnivore T2Rs were conserved among mammals. Similarly, the small carnivore T2R family size was likely due to rare duplication events. Collectively, these results strengthen arguments for the connection between T2R gene family size, diet and habit.
