Prismatic joint

A-T Battery Co. is a joint venture between Asahi and Toshiba, to produce Li ion batteries. Fuji Electric and Fuji Film, Hitachi-Maxell (Li-thionyl cells, and now also Li ion cells), Japan Storage Battery Co. (prismatic cells), and Matsushita Battery Co. cover most systems. Mitsubishi Electric, Mitsui, and Sanyo are major producers of the Li - Mn02 system. Sony Energy... 

The GT-MHR - 600 MW(th) concept of a direct cycle HTGR is a joint development by the US General Atomics and Russia s Minatom starting in 1995 and since 1997 supported by the French Framatome and Fuji Electric, Japan. It is planned to be built as modules of 250 - 285 MW(e) each with a prismatic core for commercial electricity generation and, in particular, for the burning of weapon-grade plutonium. A prototype and a plutonium... 

Joint project Dry machining of prismatic parts started by BMBF in Germany... 

Beebe is partieularly known for hydraulics by his 1917 Report written jointly with Ross Riegel (1881-1966). This woik, made for the Miami Conservancy District, deals with hydraulic jiunps both in prismatic and in expanding stilling basins. Until then, few experimental works were conducted on this important free surface phenomenon. The main works further were conducted for either small supercritical approach flow Froude numbers, or for extremely small approach flow depths, resulting in scale effects. The results were not readily available but demonstrated that these complex hydraulic processes were amenable by hydraulic modeling. Beebe was also involved in the 1930s in the control of debris flow at Mount Shasta In 1924, a large mud flow had deposited almost one million m of debris which muddied the Sacramento River. Beebe outlined means to coimter future similar scenarios, which had also occurred in the 19 century, and were a constant threat to the Sacramento Valley. 

Microactuators can be implemented in one or more degrees of freedom, leading to another way to classify them as linear (or prismatic), rotary (or revolute), in-plane (1D-3D), and out of plane (1D-6D). A micromotor contains several movable parts, including the microactuator and a transmission system. The transmission system consists of bending (or flexture) joints and links, rigid links, stick-and-slip contact elements, or micromechanical hinges. Like macroscale actuators, microactuators are chosen for different applications based on tradeoffs between ... 

For a prismatic joint, the relative joint position vector is defined ... 

Because the motion of a prismatic joint is confined to sliding along the ti unit vectw, the motion space is ... 

Walker and Orin [42] present one of the most familiar and efficient approaches for the computation of the inertia matrix in the so-called Composite-Rigid-Body Method [9]. This algorithm utilizes the concq>t of composite-rigid-body inertias to simplify the calculation of the manipulator inotia matrix. The computational complexity of this approach, 0(N% is significantly reduced compared to those described above, but the restriction to revolute and/w prismatic Joints remains. 

In another recent effort [2S], Li uses the theory of Lagrangian mechanics to formulate the dynamic equations of a manipulator. Similar to Lee and Lee [24] above, this formulation includes an algorithm for computing the elements of the Joint space inertia matrix. In this approach, Li is able to further reduce the required computations fw the inertia matrix, making this algorithm the most efficient serial algorithm prior to the present wwk. The computational complexity is 0 N ) and the equations are applied to revolute and/or prismatic Joint configurations only. 

As is expected, then, the computational complexity of Method IV is also 0(N ) for N links with simple revolute and/cx prismatic joints. It requires... 

The number of scalar operations required by each of the four methods presented in this chapto have been calculated explicitly. As a specific example. Table 3.6 lists the computations required by the Modified Composite-Rigid-Body Method for the case of an A -link manipulator with simple revolute and prismatic joints. Note that the computations listed for the transformation matrix, % i, correspond to the use of two screw transformations as discussed in the previous section. 

The computational complexities of Methods I-IV are compared with those of four existing serial algorithms ([2, 24, 25, 42]) in Table 3.7. The numbo of required scalar opmtions (multiplications, additions) is compared for the case of an jV-link, soial, open-chain manipulator with simple revolute and prismatic joints only. The efficient matrix transformations and other simplifications described in Section 3.5 have been plied in each of Methods I-IV. The computations necessary for detomining individual link transformation matrices have also been included in the expressions for these four methods, while this may not be true of the others referenced. The numbers shown in parentheses indi-... 

The scalar ( rations (multiplications, additions) required to compute A and A using the Force Propagation Method are shown in Table 4.6. These scalar operations are given for ap AT degree-of-freedom manipulator with simple Involute and/or prismatic joints. Note that 1)1, K, and L)), may all be computed off-line, and that the initial condition, (Ag) = 0, allows some simplification in the first iteration of the Forward Recursion. The computational complexity of the complete algorithm is 0(N), an improvement over the previous two algorithms. The efficient coordinate tiansfcMmations described in Chapter 3 are utilized in every case. 

A similar 0(N ) method, presented by Angeles and Ma in [2], uses the concept of an orthogonal complement to construct the joint space inertia matrix. The Cholesky decomposition of this matrix is used in solving the appropriate linear system for the joint accelerations. The computational complexity of this algoithm is slightly better than that in [42], but the algorithm is still not the most efficient It, too, is restricted to configurations of simple revolute and prismatic joints. 

The efficient computation of fl and A was discussed in detail in Chapt 4. The most efficient method known for the computation of both fl and A for iV < 21 is the Unit Force Method (Method II), which is O(AT ) for an A/ degree-of-freedom manipulator with revolute and/or prismatic joints. For N > 21, the 0(N) Force Propagation Method (Method III) is the most efficient. The use of these two methods will be discussed further in Section 5.1. 

Tables S.l and 5.2 list the computational requirements for the new dynamic simulation algorithm, using the most efficient algorithms known for each calculation for different values of N. The computations are tabulated in toms of the matrix and vector quantities which are found in the first three stq>s of the algorithm. The requited scalar opoations (multiplications, additions) are given for an AT-link, serial manipulator with simple revolute and prismatic joints only. The efficient matrix transformations and oth simplifications described in Chapter 3 have been applied in each stq>, and the computations necessary to determine the individual link transformation matrices have also been included.

Finite-element methods have also been used to evaluate new test equipment to measure shear strength under impact loads. In the equipment, two rectangular plates, bonded opposite faces of a vertical hexagonal prismatic rod, bear on a firm surface. The top of the central rod is subjected to an impact load. To prove the validity of the method, the maximum shear stress was compared with the impact shear strength, which was measured using a cylindrical butt joint subjected to impact torsional loads (see Tensile tests). 

Highly weathered IV Oxidized till and surficlal material Strong oxidation colours High rotten boulder content Leaching of most primary carbonate Prismatic gleyed jointing Pedological profile usually leached brown earth 3... 

The Mitsubishi I is a BEV launched into wide-scale production in 2012 after a demonstration fleet program that began in 2009 in Japan. The I , also referred to as the i-MIEV, uses a prismatic Li-ion battery designed by Lithium Energy, Japan, a Mitsubishi/GS Yuasa joint venture. The 16 kWh battery is actually much smaller than other fully EVs most of which have batteries of 24 kWh. 

In a kinematic model, different link and joint structures are used to describe the movement of mechanical frame. All the joints are represented by a 2, axis. Generally, the axis of a revolute joint (6<) or a prismatic joint (x) is denoted by 2, if the joint connects the links i and i + 1 as shown in Figure 25.1 [39]. If we have a revolute (rotary motion) joint, we rotate about 6, and if we have a prismatic joint, we translate along 2 by x. Thus, the joint variables (0, and x represent the relative displacements between concatenated links. Any kinematic representation of a system concerned should cover a set of values for the joint variables in a vector denoted by q that may take the values of either 0 or x. The number of joints determines the number (n) called degrees of freedom and gives the minimum number of parameters to configure the system with joint variables in a vector ... 

The revolute joint descriptive parameter is angle of rotation and the prismatic joint descriptive parameter is displacement, where each parameter is denoted by defined as... 

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