Sustainable development is the indispensable composition of urban building.From the viewpoints of history,practice,as well as philosophy,actual facts ,deep analysis and discuss are carried out in this paper.Finally we come to an important conclusion that the basic gist of sustainable development in constructing urban building consists of law and rules,technology and resources.The research and analysis also tell us that the three factors above integrated together closely and developing by relying on each other are the necessary trend and the essential content.
Humankind simmered with limitless appetency but never satisfied entirely, the weakness of humanity is too much appetency, whether for human’s survive or for development. The process of making tools is the result under the action of humanity, drived by natural attributes and free attributes of humanity, on one hand, drived by internalized natural attributess of seeking for safety, comfort and self-realization, and exterior natural attributess of lazy, jealousy and selfish, humankind devote themselves to the pursuance for physical and psychic wealth, the individual interests realized under the sake of realization of group’s interests. On the other hand, in view of the fact that the human society exist in country and nationality, whether individual or groups dominated by free attributess of humanity, lead the development of each industry through law and guild regulations, as well as the development of building materials included. The development of building materials is a mirror of human’s development history, building materials is the historical result of the revolution of production tools, it is the arm to change humankind and the world, it’s appearance, renovation and disuse as a reslult of humanity, it include the characteristics and contents of humanity, it represent the weakness and mightiness of humanity.
Based on the flexibility of single couple of serial mechanism and the stability of multi couples of parallel mechanism, a new type of S[T] output base of hybrid mechanism presented, component of sphere joint run through the tiger joint, this component still the output one with the capability of rotate in three dimensional space. Add serial branch including three translation couple P or/and rotation couple R to the new type of S[T] output base, put these members on one cubic frame, twenty seven configurations obtained with 3-DOF(degree of freedom) allow of three dimensional rotation, twenty seven configurations belong to three conditions obtained with 4-DOF allow of three dimensional rotation and one dimensional translation, nine configurations belong to three conditions obtained with 5-DOF allow of three dimensional rotation and two dimensional translation, one configuration obtained with 6-DOF allow of three dimensional rotation and three dimensional translation, all those sixty four configurations have no more than six translation couple or rotation couple, and the sum of two kind of couple is equal to six. Developing new type of hybrid manipulator based on the hybrid cubic mechanism constructed with S[T] output base and P/R input base will be possible in theory and useful.
Design the redundant driving structure based on a new type of universal Cartesian serial-parallel manipulator, structural parameters are optimized through objective function, relative workspace and accuracy of motion included as the main index, four BP neural networks are constructed with reiterative exercise carried out, transferred function and input parameters through the constructed and exercised neural networks, analysis and approach computation completed with pretty optimal data suggested.
Methods to analysis the DOF(degree of freedom) and singularity of pure serial and pure parallel manipulator, which can not be used to the serial-parallel manipulator directly, three type of practical topological units and one type of virtual topological unit adopted, Synthesis method of topological dimensionality of the spatial mobility of each topological unit integrated together, architectures of serial-paralle mechanism discussed, also the formula and process of its topological dimensionality of spatial mobility presented, singularity analysis of serial-parallel mechanism can be carried out based on the forgoing results.
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