![]() ![]() The results of the method can be used in the design of both the control system and structure of parallel manipulators. As case studies, a 3DoF heave-roll-pitch motion platform and a hexapod are chosen to apply the method to. The generalization of the method to higher degrees of freedom is straightforward. In this paper, the criterion of structural failure is considered to be the buckling of legs. The forces obtained in this way are used to determine the force workspace which is defined as the subspace of kinematic workspace in which the structural forces do not exceed their critical values. As the platform moves on this trajectory, legs are exposed to any possible static and dynamic forces. The platform performs piecewise sinusoidal movements on the trajectory such that it stops at each of the selected point and goes ahead toward the other with maximum allowable speed. For such types of 3DoF motion systems, a generalized trajectory is defined for the manipulator in the kinematic workspace that consists of straight paths connecting 26 selected points of workspace's boundary. Then it is extended to higher degrees of freedom. The method is first developed for 3DoF motion systems to take the advantages of illustrating the workspace by use of 3D plots. The kinematic workspace is also obtained by the method, since the solution of inverse kinematics is embedded in the procedure. ![]() As President Trump approaches the milestone of his first 100 days in office, we spoke to Rev.An analytical-numerical method based on solution of inverse dynamics is presented for determining the load workspace of generally configured parallel motion systems with up to 6 degrees of freedom. Samuel Rodriguez about his reading at the presidential inauguration and what he describes as the clarion call for individual believers and the church to rise up and confront darkness in every realm of our lives - the message of his national best-selling book, Be Light. When he was invited to be the first Hispanic evangelical pastor to take part in a Presidential Inauguration, Rodriguez chose to read from the Sermon on the Mount and concluded with Christ’s command to His followers to be the light of the world. ![]() When you have just a few minutes to speak at the inauguration, what went into your decision to read from the fifth chapter of Matthew? In a very real way, I saw this opportunity, this honor, to be invited to be a part of the quintessential political platform on the planet as a distinct moment in history when the word of God could cut through the noise and confusion to call each of us afresh to be light - in our families, neighborhoods, nation and the world. I believe that our nation is at the precipice of another Great Awakening. ![]() While we need to be engaged politically, we should do so as an act of prophetic witness. Holistic Christianity doesn’t sacrifice truth at the altar of political expediency. God impressed upon me to remind all present at the Inauguration and watching across the country and throughout the world of what He truly considers to be the way to share our light and be a blessing to so many under the canopy of disillusionment hovering upon our current day and age. How can we Be Light in these times and what compelled you to write Be Light? Our ailing nation faces so many issues and threats that paint a dark picture. Some argue that we live in the blackest hour.Īs believers, it is too easy to lose sight of the truth that the battle in America is not between Republicans and Democrats or liberals and conservatives. Despite the temptation to engage in these skirmishes, we know that the real battle is between heaven and hell, darkness and light. Some time ago, I was preaching about, writing articles about, and having conversations about the ever-encroaching canopy of darkness that threatened our society and our culture. Like so many of us, I saw attacks on a growing number of fronts. ![]()
0 Comments
Leave a Reply. |
Details
AuthorWrite something about yourself. No need to be fancy, just an overview. ArchivesCategories |