Self-Motions of General 3-RPR Planar Parallel Robots

This paper studies the kinematic geometry of general 3-RPR planar parallel robots with actuated base joints. These robots, while largely overlooked, have simple direct kinematics and large singularity-free workspace. Furthermore, their kinematic geometry is the same as that of a newly developed parallel robot with SCARA-type motions. Starting from the direct and inverse kinematic model, the expressions for the singularity loci of 3-RPR planar parallel robots are determined. Then, the global behaviour at all singularities is geometrically described by studying the degeneracy of the direct kinematic model. Special cases of self-motions are then examined and the degree of freedom gained in such special configurations is kinematically interpreted. Finally, a practical example is discussed and experimental validations performed on an actual robot prototype are presented

Natural oscillations of underactuated cable-driven parallel robots

Underactuated Cable-Driven Parallel Robots (CDPR) employ a number of cables smaller than the degrees of freedom (DoFs) of the end-effector (EE) that they control. As a consequence, the EE is underconstrained and preserves some freedoms even when all actuators are locked, which may lead to undesirable oscillations. This paper proposes a methodology for the computation of the EE natural oscillation frequencies, whose knowledge has proven to be convenient for control purposes. This procedure, based on the linearization of the system internal dynamics about equilibrium con_gurations, can be applied to a generic robot suspended by any number of cables comprised between 2 and 5. The kinematics, dynamics, stability and stiffness of the robot free motion are investigated in detail. The validity of the proposed method is demonstrated by experiments on 6-DoF prototypes actuated by 2, 3, and 4 cables. Additionally, in order to highlight the interest in a robotic context, this modelling strategy is applied to the trajectory planning of a 6-DoF 4-cable CDPR by means of a frequency-based method (multi-mode input shaping), and the latter is experimentally compared with traditional non-frequency-based motion planners

Near-UV to near-IR disk-averaged Earth's reflectance spectra

We report 320 to 1020nm disk-averaged Earth reflectance spectra obtained from Moon's Earthshine observations with the EMMI spectrograph on the NTT at ESO La Silla (Chile). The spectral signatures of Earth atmosphere and ground vegetation are observed. A vegetation red-edge of up to 9% is observed on Europe and Africa and ~2% upon Pacific Ocean. The spectra also show that Earth is a blue planet when Rayleigh scattering dominates, or totally white when the cloud cover is large.Comment: Proceeding of an oral prensentation at the UAI No200 Colloquiu

Workspace Computation of Planar Continuum Parallel Robots

Continuum parallel robots (CPRs) comprise several flexible beams connected in parallel to an end-effector. They combine the inherent compliance of continuum robots with the high payload capacity of parallel robots. Workspace characterization is a crucial point in the performance evaluation of CPRs. In this paper, we propose a methodology for the workspace evaluation of planar continuum parallel robots (PCPRs), with focus on the constant-orientation workspace. An explorative algorithm, based on the iterative solution of the inverse geometrico-static problem is proposed for the workspace computation of a generic PCPR. Thanks to an energy-based modelling strategy, and derivative approximation by finite differences, we are able to apply the Kantorovich theorem to certify the existence, uniqueness, and convergence of the solution of the inverse geometrico-static problem at each step of the procedure. Three case studies are shown to demonstrate the effectiveness of the proposed approach

A New 3-DoF Planar Parallel Manipulator with Unlimited Rotation Capability

International audienceMost of three-degree-of-freedom (3-DoF) planar parallel manipulators encountered today have a common disadvantage that is their low rotational capability. However, for many industrial applications, by example in automated assembly systems, cutting machines, simulators, or micro-motion manipulators, a high rotation capability is needed. To overcome such a difficulty, this paper focuses its attention on the proposal of a new 3-DoF planar parallel manipulator capable of high rotational capability. Firstly, structure and mobility of the suggested manipulator are discussed. Then the forward and inverse kinematic problems are analyzed, as well as it is disclosed its singular configurations. The shaking force and shaking moment balancing are also considered. The proposed design concept is illustrated by a driven demonstrator which is a first model of the suggested manipulator

Optimal Force Generation of 3-RRR Decoupled Planar Robots for Ensuring Unlimited Platform Rotation

International audienceThis paper deals with the optimal dynamics of the 3-RRR decoupled robot in which the linear displacements of the platform are decoupled from its orientation. The particularity of the 3-RRR decoupled robot is that an optimal choice of the leg's geometric parameters allows an unlimited platform rotation, which can be attractive for many industrial applications. However, a singular configuration is necessarily encountered during full platform rotation. In order to generate a stable motion in the presence of singularities, optimal dynamic conditions are disclosed. The suggested optimal conditions ensuring unlimited platform rotation are illustrated and validated by numerical simulations with ADAMS

Design and stability study of a paediatric oral solution of methotrexate 2mg/ml

Oral paediatric forms development by pharmaceutical industry is still insufficient. The present study was performed to propose an adapted and pleasant formulation of liquid oral formulation of MTX. The solution is composed of injectable methotrexate, water, Ora Sweet(®) and sodium bicarbonate. After 120 days storage, pH remained stable at about 8 in all formulations, insuring no risk of MTX precipitation. MTX content in solution formulation, determined by high performance liquid chromatography measurements, remained in the specifications of >90% of the initial concentration when stored at 4 and 25°C. Forced degradation of MTX by heat and acidic conditions allowed formation and detection of degradation products by the analytical method. Microbial study of the preparation shows that the solution remains in the specifications during all the storage, or after one sample each week during one month, eventually indicating the microbial properties are not affected by patient use. To conclude, we here propose a new MTX liquid formulation stable for at least 120 days

Influence of V/III molar ratio on the formation of In vacancies in InN grown by metal-organic vapor-phase epitaxy

We have applied a slow positron beam to study InN samples grown by metal-organic vapor-phase epitaxy with different V/III molar ratios (3300–24 000) and at different growth temperatures (550–625°C). Indium vacancies were identified in samples grown at V/III ratios below 4000. Their concentration is in the 10exp17cm−3 range. No strong dependence of vacancy concentration on the molar ratio was observed. At low V/III ratios, however, In droplets and vacancy clusters are formed near the substrate interface. The elevated growth temperature enhances the In vacancy formation, possibly due to limited sticking of In on the growth surface close to the decomposition temperature.Peer reviewe

Characterization of the blue emission of Tm/Er co-implanted GaN

Comparative studies have been carried out on the cathodoluminescence (CL) and photoluminescence (PL) properties of GaN implanted with Tin and GaN co-implanted with Tin and a low concentration of Er. Room temperature CL spectra were acquired in an electron probe microanalyser to investigate the rare earth emission. The room temperature CL intensity exhibits a strong dependence on the annealing temperature of the implanted samples. The results of CL temperature dependence are reported for blue emission (similar to 477 nm) which is due to intra 4f-shell electron transitions ((1)G(4)-> H-3(6)) associated with Tm3+ ions. The 477 nm blue CL emission is enhanced strongly as the annealing temperature increases up to 1200 degrees C. Blue PL emission has also been observed from the sample annealed at 1200 degrees C. To our knowledge, this is the first observation of blue PL emission from Tin implanted GaN samples. Intra-4f transitions from the D-1(2) level (similar to 465 nm emission lines) of Tm3+ ions in GaN have been observed in GaN:Tm films at temperatures between 20-200 K. We will discuss the temperature dependent Tm3+ emission in both GaN:Tm,Er and GaN:Tm samples

Soliton surfaces associated with symmetries of ODEs written in Lax representation

The main aim of this paper is to discuss recent results on the adaptation of the Fokas-Gel'fand procedure for constructing soliton surfaces in Lie algebras, which was originally derived for PDEs [Grundland, Post 2011], to the case of integrable ODEs admitting Lax representations. We give explicit forms of the \g-valued immersion functions based on conformal symmetries involving the spectral parameter, a gauge transformation of the wave function and generalized symmetries of the linear spectral problem. The procedure is applied to a symmetry reduction of the static $\phi^4$-field equations leading to the Jacobian elliptic equation. As examples, we obtain diverse types of surfaces for different choices of Jacobian elliptic functions for a range of values of parameters.Comment: 14 Pages, 2 figures Conference Proceedings for QST7 Pragu