We present magnetic susceptibility, heat capacity, and neutron diffraction measurements of polycrystalline NdRuO down to 0.4 K. Three anomalies in the magnetic susceptibility measurements at 146, 21 and 1.8 K are associated with an antiferromagnetic ordering of the Ru moments, a weak ferromagnetic signal attributed to a canting of the Ru and Nd moments, and a long-range-ordering of the Nd moments, respectively. The long-range order of the Nd moments was observed in all the measurements, indicating that the ground state of the compound is not a spin glass. The magnetic entropy of Rln2 accumulated up to 5 K, suggests the Nd has a doublet ground state. Lattice distortions accompany the transitions, as revealed by neutron diffraction measurements, and in agreement with earlier synchrotron x-ray studies. The magnetic moment of the Nd ion at 0.4 K is estimated to be 1.54(2)µ and the magnetic structure is all-in all-out as determined by our neutron diffraction measurements.
This work extends the concepts and methodologies of Shen et al. for the synthesis of spherical four-bar motion generators to the synthesis of spatial revolute-revolute-sphericalcylindrical (RRSC) motion generators with applied coupler loads. A constraint that includes coupler loads and driver static torques for the RRSC mechanism is formulated using the principle of virtual work. This constraint is combined with the conventional constraints for the R-R and C-S dyads to form a non-linear optimization problem from which RRSC mechanism solutions are calculated that approximate prescribed coupler poses and satisfy prescribed driver static torques for given coupler loads. The formulated RRSC coupler load and driver static torque constraint are also incorporated in a simplified RRSC motion generation model to form a simplified non-linear optimization problem for calculating RRSC mechanism solutions. This work demonstrates both the conventional and simplified non-linear optimization problems. mechanism utilizes basic joint types (revolute, spherical, and cylindrical only) and requires no strict link and joint configuration conditions to ensure proper assembly and motion, it is one of the most basic spatial, four-bar, and single DOF kinematic chains. The simplicity of the RRSC mechanism coupled with its ability to exhibit spatial motion makes the RRSC mechanism a potential candidate for tasks that are redundant and include a degree of continuous spatial motion.
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