Considering the real-time control of a high-speed parallel robot, a concise and precise dynamics model is essential for the design of the dynamics controller. However, the complete rigid-body dynamics model of parallel robots is too complex for online calculation. Therefore, a hierarchical approach for dynamics model simplification, which considers the kinematics performance, is proposed in this paper. Firstly, considering the motion smoothness of the end-effector, trajectory planning based on the workspace discretization is carried out. Then, the effects of the trajectory parameters and acceleration types on the trajectory planning are discussed. But for the fifth-order and seventh-order B-spline acceleration types, the trajectory will generate excessive deformation after trajectory planning. Therefore, a comprehensive index that considers both the motion smoothness and trajectory deformation is proposed. Finally, the dynamics model simplification method based on the combined mass distribution coefficients is studied. Results show that the hierarchical approach can guarantee both the excellent kinematics performance of the parallel robot and the accuracy of the simplified dynamics model under different trajectory parameters and acceleration types. Meanwhile, the method proposed in the paper can be applied to the design of the dynamics controller to enhance the robot's performance.
Download full-text PDF |
Source |
|---|---|
| http://www.ncbi.nlm.nih.gov/pmc/articles/PMC10358639 | PMC |
| http://dx.doi.org/10.1177/00368504211063072 | DOI Listing |
Publication Analysis
Top Keywords
Similar Publications
MoCloro: an extension of the Chlamydomonas reinhardtii modular cloning toolkit for microalgal chloroplast engineering.
Physiol Plant
January 2025
Laboratory of Biochemistry, Institut Químic de Sarrià, Universitat Ramon Llull, Barcelona, Spain.
Photosynthetic microalgae are promising green cell factories for the sustainable production of high-value chemicals and biopharmaceuticals. The chloroplast organelle is being developed as a chassis for synthetic biology as it contains its own genome (the plastome) and some interesting advantages, such as high recombinant protein titers and a diverse and dynamic metabolism. However, chloroplast engineering is currently hampered by the lack of standardized cloning tools and Design-Build-Test-Learn workflows to ease genomic and metabolic engineering.
View Article and Find Full Text PDFModeling absorbed alpha particle dose from diffusing alpha-emitters radiation therapy in changing tissue volumes.
Med Phys
January 2025
Department of Medical Physics, Memorial Sloan Kettering Cancer Center, New York, New York, USA.
Background: Diffusing alpha-emitters Radiation Therapy ("Alpha DaRT") is a promising new radiation therapy modality for treating bulky tumors. Ra-carrying sources are inserted intratumorally, producing a therapeutic alpha-dose region with a total size of a few millimeter via the diffusive motion of Ra's alpha-emitting daughters. Clinical studies of Alpha DaRT have reported 100% positive response (30%-100% shrinkage within several weeks), with post-insertion swelling in close to half of the cases.
View Article and Find Full Text PDFAdipose-derived stem cells regulate mitochondrial dynamics to alleviate the aging of HFF-1 cells.
In Vitro Cell Dev Biol Anim
January 2025
Department of Outpatient Service, The Affiliated Nanhua Hospital, Hengyang Medical School, University of South China, Hengyang, 421002, Hunan, China.
The objective of this study is to explore how adipose-derived stem cells (ASCs) regulate mitochondrial structure and function and the impact of this regulation on slowing cellular senescence. HFF-1 cells were induced by HO to establish a cellular senescence model, and ASCs or Mdivi-1 (mitochondrial fission inhibitor) was added. MTT examined the cell proliferation; flow cytometry detected mitochondrial membrane potential as well as apoptosis and cell cycle; kit measured ATP production; ELISA analyzed the levels of interleukin-6 (IL-6), interleukin 1 beta (IL-1β), tumor necrosis factor alpha-like (TNF-α), glutathione (GSH), malondialdehyde (MDA), and superoxide dismutase (SOD); Western blotting and qRT-PCR detected the expression of protein and mRNA levels; and β-galactosidase staining observed the degree of cellular senescence.
View Article and Find Full Text PDFThe Sub 2-h Official Marathon is Possible: Developing a Drafting Strategy for a Historic Breakthrough in Sports.
Sports Med Open
January 2025
Mechanical Engineering Department, Texas Tech University, Lubbock, TX, USA.
Background: Drafting for drag reduction is a tactic commonly employed by elite athletes of various sports. The strategy has been adopted by Kenyan runner Eliud Kipchoge on numerous marathon events in the past, including the 2018 and 2022 editions of the Berlin marathon (where Kipchoge set two official world records), as well as in two special attempts to break the 2 h mark for the distance, the Nike Breaking2 (2017) and the INEOS 1:59 Challenge (2019), where Kipchoge used an improved drafting formation to finish in 1:59:40, although that is not recognized as an official record.
Results: In this study, the drag of a realistic model of a male runner is calculated by computational fluid dynamics for a range of velocities.
Dynamic mechanism and evolutionary game analysis of sports industry service transformation.
Sci Rep
January 2025
Zhejiang Gongshang University Hangzhou College of Commerce, Hangzhou, Zhejiang, China.
Service transformation plays a pivotal role in achieving the sustainable development of the sports industry. This study originates from the interactive relationships among sports enterprises, consumers, and regulatory authorities, proposing a logical framework for the service transformation of the sports industry. Furthermore, a three-party evolutionary game model is constructed to explore the strategic evolution and stability conditions under both single-agent and multi-agent scenarios.
View Article and Find Full Text PDFWant AI Summaries of new PubMed Abstracts delivered to your In-box?
Enter search terms and have AI summaries delivered each week - change queries or unsubscribe any time!