Simple closed-chain mechanism structure

Multiple chain robotic systems can take many forms, some of them quite complex. Simple closed-chain mechanisms are a subset of multiple chain systems with specific structural characteristics. In this section, a model for simple closed-chain mechanisms is described, and the nature of the simulation problem for these mechanisms is discussed. 

The structure of a simple closed-chain mechanism is characterized by m actuated chains which support a single common reference member [31]. The supporting chains are assumed to be serial-link chains, firee of intmial closed loops. Therefore, the removal of the reference membo breaks all closed Io( in the system. Each chain may have an arbitrary numbo of links and degrees of freedom. The... 

In developing an efficient algwithm for the dynamic simulation of simple closed-chain mechanisms, we are naturally led to consider the relationship between the physical structure of the robotic system and the computational structure of the desired algorithm. Intuitively, it seems tqyparent that the structural parallelism present in a simple closed-chain mechanism should lead to computational parallelism in the solution of the Direct Dynamics problem for that mechanism. 

The method outlined above is quite straightforward and illustrates some features of a parallel computational structure as discussed previously. Of course, the illustrated example represents a special case. We will now develop a similar approach fex a general simple closed-chain mechanism which, although the notation becomes a bit more complicated, also exhibits the parallel computational characteristics we expect. 

The mechanism of ATP synthesis discussed here assumes that protons extruded during electron transport are in the bulk phase surrounding the inner mitochondrial membrane (intermembrane and extramitochondrial spaces). An alternative view is that there are local proton circuits within or close to the respiratory chain and complex V, and that these protons may not be in free equilibrium with the bulk phase (Williams, 1978), although this has not been supported experimentally (for references see Nicholls and Ferguson, 1992). The chemiosmotic mechanism is both elegant and simple and explains all the known facts about ATP synthesis and its dependence on the structural integrity of the mitochondria, although the details may appear complex. This mechanism will now be discussed in more detail. 

All authors conclude that carbons with adjusted pore size distribution in the entire range of the nanopores can be obtained, depending the synthesis conditions and cationic surfactants used as templates. Despite this, it is an effective pathway to obtain porous carbons, even though the pore formation mechanism is not well understood. Hence, different mechanisms are used to explain its effect emerged, such as liquid crystal templating mechanism, cooperative self-assembly, electrostatic interaction between cationic surfactant molecules and the anionic RF polymer chain and micelles as nanoreactors to produce RF nanoparticles [51, 70]. In these cases, the simple mold effect from the globular form and the RF polymerization around it is insufficient to explain the structuring of the material by the template, where spherical closed pores would be expected. 

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