This paper proposes a systematic methodology to obtain a closed-form formulation for dynamics analysis of a novel spherical robot that is called a 3(RPSP)-S parallel manipulator. The proposed manipulator provides high rotational displacement of the moving platform for low angular displacement of the motors. The advised robot is suitable for repetitive oscillatory applications (for example, wrist and ankle rehabilitation and table of autopilot and gyroscope life test, etc.). First, we describe the structure of the proposed manipulator and solve the inverse kinematics problem of the manipulator. Next, based on the principle of virtual work, a methodology for deriving the dynamical equations of motion is developed. The elaborated approach shows that the inverse dynamics of the manipulator can be reduced to solving a system of three linear equations in three unknowns. Finally, a computational algorithm to solve the inverse dynamics of the manipulator is advised and several trajectories of the moving platform are simulated and verified by a special dynamics modeling commercial software (MSC ADAMS).
SUMMARYIn this paper, a novel 3(RPSP)-S fully spherical parallel manipulator (SPM) is introduced. Also, an innovative method based on the geometry of the manipulator is presented for solving the forward position problem of the manipulator. The presented method provides a framework for the future research to solve the forward position problem of the other fully spherical PMs (for examples 3(UPS)-S and 3(RSS)-S). In the proposed method, two coupled trigonometric equations are obtained by utilizing the geometry of the manipulator and Rodrigues' rotation formula. Using Bezout's elimination technique, the two coupled equations lead to a polynomial of degree eight. We show that the polynomial is minimal and optimal. Furthermore, the other method is proposed for selecting an admissible solution of the forward position problem. This algorithm is required to control modeling and dynamic simulations.
Prefabricated house could be a sustainable way to provide residences for Canadians. This research project is intended to assess prefabrication in terms of its compliances and potential links to LEED for Home by a commentary approach on each selected components of LEED. To achieve this goal, an in-depth analysis of the current situation of the prefabricated housing industry in Canada was carried out to come up with the appropriate results for this paper. Also a relevancy assessment has been carried out to identify potential LEED credits that can be directly or indirectly relevant to prefabricated homes. Furthermore, LEED credits have been examined to show to which degree prefabricated homes can facilitate achieving LEED points. EcoTerra house has been selected to be LEED rated to assess the role of prefabrication in achieving LEED points. As results some recommendations are given to be considered followed by limitations and suggestions for future researchers.
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