Abstract In this paper, a 5-DOF manipulator is designed to carry the pipeline robot. The joint coordinate system and connecting rod parameters of are confirmed by D-H method, kinematics model established. position direction end deduced using homogeneous transformation method. Monte Carlo method used solve workspace manipulator, MATLAB draw cloud map. Set motion trajectory space planning, throug...

Electron microscope studies of vertebrate retinas (1-4) have established that the outer and inner segments of each rod are connected through the so called "connecting cilium" (2). Examination of a large number of sections of vertebrate retinas occasionally reveals however, abnormal rods whose outer and inner segments are in direct continuity. Morphogenetic studies of such abnormal rods can serv...

Taking the key components of umbrella wind turbine regulating mechanism as research object, main stress concentration parts were determined by numerical simulation, and strength was checked. Through tunnel test, variation on adjustment with shrinkage angle under actual operating conditions tested. The results show that connecting rod small hub increases first then decreased increase angle, both...