We propose an Ashkin–Teller-like model for elastic response of DNA molecule to external force and torque. The base-stacking interaction is described in a simple and uniform way. We obtain the phase diagram of dsDNA, and in particular, the transition from B form to the S state induced by stretching and twisting. The elastic response of the ssDNA is presented also in a unified formalism. The close relation of dsDNA molecule structure with elastic response is shown clearly. The calculated folding angle of the dsDNA molecule is 59.2°.
A kinetostatic model and a dynamics model of a parallel ma丑 ipulator (PM) with three grippers are establ四hed and a丑alyzed in the light of its application. First, the coordinative kinematics of this manipulator and three grippers are analyzed. Second, the kinetostatic formulae are derived for transforming the coordinative kinematics and forces applied on the grippers into the workloads applied on the movi吨 platform and the active/co丑 strained forc臼 and torques applied onto active legs. Third, the dynamics formulae are derived for solving dynamic active wrench of grippers a丑d PM by considering inertial mass of the grippers, legs and platform. Finally, a numerical example is given for illustrating application of kinetostatic model and dynamics formulae , and the dynamics solutions of this manipulator are veri丑ed by simulatio丑.
KeyWordsParallel manipulator with multi grippers, coordinative dynamics, coordinative kinetostatics Notation DoF -degree of freedom; PM -paralle1 manipu1ator m , B -p1atform and base of PM 队 , Bi -joints on m and B (i= 1, 2, 3) ωi -the ith claw
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