Assessment of interatomic potentials for atomistic analysis of static and dynamic properties of screw dislocations in W

Screw dislocations in bcc metals display non-planar cores at zero temperature which result in high lattice friction and thermally-activated strain rate behavior. In bcc W, electronic structure molecular statics calculations reveal a compact, non-degenerate core with an associated Peierls stress between 1.7 and 2.8 GPa. However, a full picture of the dynamic behavior of dislocations can only be gained by using more efficient atomistic simulations based on semiempirical interatomic potentials. In this paper we assess the suitability of five different potentials in terms of static properties relevant to screw dislocations in pure W. Moreover, we perform molecular dynamics simulations of stress-assisted glide using all five potentials to study the dynamic behavior of screw dislocations under shear stress. Dislocations are seen to display thermally-activated motion in most of the applied stress range, with a gradual transition to a viscous damping regime at high stresses. We find that one potential predicts a core transformation from compact to dissociated at finite temperature that affects the energetics of kink-pair production and impacts the mechanism of motion. We conclude that a modified embedded-atom potential achieves the best compromise in terms of static and dynamic screw dislocation properties, although at an expense of about ten-fold compared to central potentials.

Thermal diffusion profile by NRA of Deuterium implanted in solid breeder blanket materials

This paper studies the relationship between aging, physical changes and the results of non-destructive testing of plywood. 176 pieces of plywood were tested to analyze their actual and estimated density using non-destructive methods (screw withdrawal force and ultrasound wave velocity) during a laboratory aging test. From the results of statistical analysis it can be concluded that there is a strong relationship between the non-destructive measurements carried out, and the decline in the physical properties of the panels due to aging. The authors propose several models to estimate board density. The best results are obtained with ultrasound. A reliable prediction of the degree of deterioration (aging) of board is presented. Breeder blanket materials have to produce tritium from lithium while fulfilling several strict conditions. In particular, when dealing with materials to be applied in fusion reactors, one of the key questions is the study of light ions retention, which can be produced by transmutation reactions and/or introduced by interaction with the plasma. In ceramic breeders the understanding of the hydrogen isotopes behaviour and specially the diffusion of tritium to the surface is crucial. Moreover the evolution of the microstructure during irradiation with energetic ions, neutrons and electrons is complex because of the interaction of a high number of processes.

Non-destructive methods to estimate physical aging of plywood

This paper studies the relationship between aging, physical changes and the results of non-destructive testing of plywood. 176 pieces of plywood were tested to analyze their actual and estimated density using non-destructive methods (screw withdrawal force and ultrasound wave velocity) during a laboratory aging test. From the results of statistical analysis it can be concluded that there is a strong relationship between the non-destructive measurements carried out, and the decline in the physical properties of the panels due to aging. The authors propose several models to estimate board density. The best results are obtained with ultrasound. A reliable prediction of the degree of deterioration (aging) of board is presented.

Simulation of Freight Trains Equipped with Partially Filled Tank Containers and Related Resonance Phenomenon

To study the fluid motion-vehicle dynamics interaction, a model of four, liquid filled two-axle container freight wagons was set up. The railway vehicle has been modelled as a multi-body system (MBS). To include fluid sloshing, an equivalent mechanical model has been developed and incorporated. The influence of several factors has been studied in computer simulations, such as track defects, curve negotiation, train velocity, wheel wear, liquid and solid wagonload, and container baffles. SIMPACK has been used for MBS analysis, and ANSYS for liquid sloshing modelling and equivalent mechanical systems validation. Acceleration and braking manoeuvres of the freight train set the liquid cargo into motion. This longitudinal sloshing motion of the fluid cargo inside the tanks initiated a swinging motion of some components of the coupling gear. The coupling gear consists of UIC standard traction hooks and coupling screws that are located between buffers. One of the coupling screws is placed in the traction hook of the opposite wagon thus joining the two wagons, whereas the unused coupling screw rests on a hanger. Simulation results showed that, for certain combinations of type of liquid, filling level and container dimensions, the liquid cargo could provoke an undesirable, although not hazardous, release of the unused coupling screw from its hanger. The coupling screw's release was especially obtained when a period of acceleration was followed by an abrupt braking manoeuvre at 1 m/s2. It was shown that a resonance effect between the liquid's oscillation and the coupling screw's rotary motion could be the reason for the coupling screw's undesired release. Possible solutions to avoid the phenomenon are given.Acceleration and braking manoeuvres of the freight train set the liquid cargo into motion. This longitudinal sloshing motion of the fluid cargo inside the tanks initiated a swinging motion of some components of the coupling gear. The coupling gear consists of UIC standard traction hooks and coupling screws that are located between buffers. One of the coupling screws is placed in the traction hook of the opposite wagon thus joining the two wagons, whereas the unused coupling screw rests on a hanger. This paper reports on a study of the fluid motion-train vehicle dynamics interaction. In the study, a model of four, liquid-filled two-axle container freight wagons was developed. The railway vehicle has been modeled as a multi-body system (MBS). To include fluid sloshing, an equivalent mechanical model has been developed and incorporated. The influence of several factors has been studied in computer simulations, such as track defects, curve negotiation, train velocity, wheel wear, liquid and solid wagonload, and container baffles. A simulation program was used for MBS analysis, and a finite element analysis program was used for liquid sloshing modeling and equivalent mechanical systems validation. Acceleration and braking maneuvers of the freight train set the liquid cargo into motion. This longitudinal sloshing motion of the fluid cargo inside the tanks initiated a swinging motion of some components of the coupling gear. Simulation results showed that, for certain combinations of type of liquid, filling level and container dimensions, the liquid cargo could provoke an undesirable, although not hazardous, release of an unused coupling screw from its hanger. It was shown that a resonance effect between the liquid's oscillation and the coupling screw's rotary motion could be the reason for the coupling screw's undesired release. Solutions are suggested to avoid the resonance problem, and directions for future research are given.

Wedges and plate-bandes: mechanical theories after De la Hire

Plate-bandes are straight masonry arches (they are called, also, flat arches or lintel arches). Ideally they have the surfaces of extrados and intrados plane and horizontal. The stones or bricks have radial joints converging usually in one centre. The voussoirs have the form of wedges and in French they are called "claveaux". A plate-bande is, in fact, a lintel made of several stones and the proportions of lintels and plate-bandes are similar. Proportions of plate-bandes, that is the relationship between the thickness t and the span s (t/s)varies, typically between 1/4–1/3 in thick plate-bandes, and is less than 1/20 in the most slender ones. A ratio of circa 1/8 was usual in the 18th Century and follows a simple geometrical rule: the centre form with the intrados an equilateral triangle and the plate-bande should contain an arc of circle. The joints are usually plane, but in some cases present a «rebated» or «stepped» form. Plate-bandes exert an inclined thrust as any masonry arch. This thrust is usually very high and it requires either massive buttresses, or to be built in the middle of thick walls. Master builders and architects have tried since antiquity to calculate the abutment necessary for any arch. A modern architect or engineer will measure the arch thrust in units of force, kN or tons. Traditionally, the thrust has been measured as the size of the buttresses to resist it safely. Old structural rules, then, addressed the design problem establishing a relationship between the span and the depth of the buttress. These were empirical rules, particular for every type of arch or structure in every epoch. Thus, the typical gothic buttress is 1/4 of the vault span, but a Renaissance or baroque barrel vault will need more than 1/3 of the span. A plate-bande would require more than one half of the span; this is precisely the rule cited by the French engineer Gautier, who tried unsuccessfully to justify it by static reasons. They were used, typically, to form the lintels of windows or doors (1-2 m, typically); in Antiquity they were used, also, though rarely, at the gates of city walls or in niches (ca. 2 m, reaching 5.2 m). Plate-bandes may show particular problems: it is not unusual that some sliding of the voussoirs can be observed, particularly in thick plate-bandes. The stepped joints on Fig. 1, left, were used to avoid this problem. There are other «hidden» methods, like iron cramps or the use of stone wedges, etc. In seismic zones these devices were usual. Another problem relates to the deformation; a slight yielding of the abutments, or even the compression of the mortar joints, may lead to some cracking and the descent of the central keystone. Even a tiny descent will convert the original straight line of the intrados in a broken line with a visible «kink» or angle in the middle. Of course, both problems should be avoided. Finally, the wedge form of the voussoirs lead to acute angles in the stones and this can produce partial fractures; this occurs usually at the inferior border of the springers at the abutments. It follows, that to build a successful plate-bande is not an easy matter. Also, the structural study of plate-bandes is far from simple, and mechanics and geometry are related in a particular way. In the present paper we will concentrate on the structural aspects and their constructive consequences, with a historical approach. We will outline the development of structural analysis of plate-bandes from ca. 1700 until today. This brief history has a more than purely academic interest. Different approaches and theories pointed to particular problem, and though the solution given may have been incorrect, the question posed was often pertinent. The paper ends with the application of modern Limit Analysis of Masonry Structures, developed mainly by professor Heyman in the last fifty years. The work aims, also, to give some clues for the actual architect and engineer involved in the analysis or restoration of masonry buildings.

Radio-holografía de microondas para la optimización de la superficie de grandes antenas reflectoras

En el presente trabajo de tesis se afronta el problema de la optimización de la superficie de grandes antenas reflectoras. Es sabido que los grandes reflectores, formados por una superficie panelada, sufren deformaciones debidas al impacto del viento, a los cambios de temperatura y a los efectos gravitacionales derivados del gran peso de la estructura. Estos efectos hacen que los reflectores pierdan su forma ideal, generalmente de paraboloide, y se reduzca su eficiencia de apertura y, por tanto, se limite la máxima frecuencia de uso de los mismos. Es necesario, por tanto, disponer de técnicas que permitan medir el estado de la superficie de grandes reflectores, y derivar los ajustes necesarios a aplicar sobre los tornillos de soporte de cada uno de los paneles que conforman dicha superficie. De esta manera, se devolvería al reflector su forma óptima y aumentaría la eficiencia de apertura y el rango de frecuencias de uso. Hay que resaltar que el aumento de la eficiencia de un radiotelescopio supone una reducción en el tiempo de integración necesario para la detección de las debilísimas señales generadas por las radiofuentes naturales, ahorrando así valioso tiempo de observación. Además, el incremento en el rango de frecuencias permite la detección de nuevas líneas o especies moleculares en dichas radiofuentes. Tras un primer capítulo introductorio, se presenta, en el capítulo segundo, la geometría de estos grandes reflectores y la influencia de los distintos factores que afectan a la calidad de la superficie de los mismos, como la gravedad, el viento y la temperatura, particularizando para el caso del radiotelescopio de 40 metros del Centro Astronómico de Yebes. En el tercer capítulo, se presentan las diferentes técnicas metrológicas empleadas actualmente para abordar la determinación de estos ajustes, mostrándose las ventajas e inconvenientes de cada una de ellas. Actualmente, la técnica metrológica más precisa y rápida para llevar a cabo esta tarea de caracterización de la superficie de un gran reflector, es la radio-holografía de microondas presentada en el capítulo cuarto. A partir de las medidas proporcionadas por esta técnica, realizadas con la ayuda de un transmisor, y mediante transformaciones de campo, se calculan los errores de la superficie del reflector, respecto al paraboloide ideal, y se derivan los ajustes necesarios. En los capítulos quinto y sexto se presentan los resultados de la aplicación de esta técnica a dos radiotelescopios: el de 30 metros de IRAM en Pico de Veleta (Granada) y los prototipos de 12 metros de las antenas del proyecto ALMA. Por su parte, el capítulo séptimo contiene el núcleo fundamental de esta tesis y presenta el desarrollo de la técnica de radio-holografía de microondas para optimizar la superficie del radiotelescopio de 40 metros del Centro Astronómico de Yebes. Para ello, ha sido necesario diseñar, construir e instalar un receptor de doble canal en banda Ku en foco primario, y la instrumentación asociada para hacer las medidas de amplitud y fase del diagrama de radiación. Además, ha sido necesario desarrollar el software para llevar a cabo las transformaciones de campo y derivar los ajustes de los paneles. De las medidas holográficas iniciales resultó un error de la superficie del radiotelescopio de 485 μm WRMS, respecto al paraboloide ideal en dirección normal. Tras varias iteraciones del proceso de medida y ajuste, se consiguió reducir dicho error a 194 μm WRMS. Esta notable mejora de la calidad de la superficie ha supuesto aumentar la eficiencia de apertura desde 2,6% al 38,2% a 86 GHz, para un receptor a esta frecuencia situado en el foco primario que produjese la misma iluminación que el receptor de holografía. In this thesis the problem of large reflector antenna surface optimization is faced. It is well known that large reflectors, which are made of a panelled surface, suffer from deformations due to the impact of wind, temperature gradients and gravity loads coming from the high weigth of the structure. These effects distort the ideal reflector shape, which is a paraboloid in most cases, hence reducing the aperture efficiency of the reflector and limiting the maximum frequency of operation. Therefore, it is necessary to have some techniques to measure the status of large reflector surfaces and to derive the adjustment values to be applied to the screws that connect the surface panels to the reflector back-up structure. In this way, the reflector would recover its optimum shape and the aperture efficiency and frequency range would increase. It has to be stated that an increment in the radiotelescope aperture efficiency would imply a reduction in the integration time needed to detect such weak signals coming from natural radiosources in space and, hence, an important saving in observation time. In addition, the increase in the frequency range of operation would allow the detection of new molecular lines in those radiosources. After the introduction, the second chapter shows the geometry of large reflector antennas and the impact on its surface quality of different factors like gravity, wind and temperature, particularly for the case of the Centro Astronómico de Yebes 40 meter radiotelescope. The third chapter deals with the different metrology techniques used to determine the panel adjustments, including the advantages and drawbacks of each one Currently, the most accurate and fast metrologic technique to carry out the characterization of large reflector surfaces is microwave radio-holography2, which is shown in chapter four. From the measurements provided by microwave radio-holography, performed with the help of a transmitter, and with the use of field transformations, the reflector surface errors are computed and the panel adjustments are derived. Chapters five and six show the results of holographic measurements applied to two first class radiotelescopes: the IRAM 30 meter radiotelescope and the 12 meter prototype antennas for the ALMA project. Chapter seven contains the main work of this thesis. It presents the development of the microwave radio-holography technique for the optimization of the Centro Astronómico de Yebes 40m radiotelescope. The work implied the design, construction and instalation of a prime focus Ku-band dual channel receiver, together with the associated instrumentation to measure the amplitude and phase of the radiotelescope radiation pattern. In addition, the software to carry out field transformations and screw settings computations was developed too. Initial holography measurements came up with an surface error of 485 μmWRMS in normal direction with respect to the best-fit paraboloid. After a few iterations of the measurementadjustment cycle, the surface error was reduced to 194 μm WRMS. This remarkable improvement in surface quality means an increment in aperture efficiency from 2,6% to 38,2% at 86 GHz, assuming a receiver at this frequency in prime focus position which produces the same illumination as the holography receiver.

Diseño y Desarrollo de un Robot de Inspección de Tuberías

El siguiente trabajo presenta un desarrollo innovador de un Robot de Inspección de Tuberías, el cual fue diseñado para operación de Tuberías Verticales (RETOV Robot de operación en tuberías Verticales (siglas en Español)). Cuando RETOV es usado para inspeccionar pozos petroleros, puede ser controlado desde la superficie, esto permite al operador la inspección y monitoreo del pozo. Esto es efectuado a través de una interfaz de usuario que controla el Robot. RETOV fue diseñado con anillos articulados que abrazan la tubería, un nuevo sistema de amortiguación y ruedas móviles brinda la posibilidad de navegar y evitar obstáculos en la tubería realizando tres tipos de movimientos: rotación, traslación y helicoidal. Adicionalmente RETOV fue diseñado para realizar inspección entre dos tuberías(la tubería de producción y el pozo petrolero), con un sistema de seguridad y una estructura liviana, RETOV puede ser equipado con sensores para medir las variables de interés en el pozo. El diseño de la mecánica y el programa de control, la instrumentación, los modelos matemáticos y resultados de las pruebas han sido descritos en esta Tesis. The following Doctoral Thesis presents an innovative application of a Pipe Inspection Robot, which was designed especially as Operation Robot in Vertical Pipes (RETOV) (Robot for operation vertical pipes (Spanish acronyms)). When RETOV is used to inspect Oil Well, can be controlled from the surface, it´s allow the operator the well inspection and monitoring. This is done through our interface that controls the robot. The RETOV was designed with an articulated ring systems that embrace the pipe, a new damping systems and mobile wheels bring the possibility to navigate and avoid obstacles into the well, performing three types of movement: Rotational, translational and screw. Additional, RETOV was designed to perform the inspection between two pipes (pipe and oil well production), with a security braking systems and lightweight structure; RETOV can be equipment with sensors to measure the variables of interest in the well. The hardware and Software design, the instrumentation, the mathematical models, and the test results have been described in this thesis.

Clasificación de madera estructural de gran escuadría de Pinus sylvestris l. mediante métodos no destructivos

Esta Tesis Doctoral aborda el estudio de algunas técnicas no destructivas para la clasificación de madera de pino silvestre (Pinus sylvestris L.) de procedencia española y de gruesa escuadría para uso estructural. Para la estimación del módulo de elasticidad y de la resistencia se han aplicado técnicas basadas en la propagación de una onda a través de la madera: onda de ultrasonidos (Sylvatest) o de impacto (Microsecond Timer) en dirección longitudinal, o vibración en dirección longitudinal y transversal (PLG). Para la estimación de la densidad se han utilizado métodos puntuales basados en el penetrómetro (Pilodyn) y en la resistencia al arranque de un tornillo. Las variables obtenidas han sido relacionadas con los resultados de la clasificación visual y con las propiedades de la madera determinadas mediante ensayo mecánico. Además, se ha estudiado la influencia de la humedad de la madera en la velocidad de propagación de la onda para definir factores de corrección a los equipos comerciales utilizados en esta Tesis Doctoral. La muestra de estudio está formada por 244 piezas procedentes de El Espinar, Segovia, con dimensiones nominales 150 x 200 x 4000 mm (218 piezas) y 100 x 150 x 3000 mm (26 piezas). De todas las piezas se tomaron datos de dimensiones, contenido de humedad y clasificación visual según la norma UNE 56544. En las primeras 218 vigas se aplicaron las técnicas de ultrasonidos, onda de impacto y vibraciones, se determinó la densidad de cada pieza completa y se ensayaron según la norma UNE-EN 408 para obtener el módulo de elasticidad global (en todos los casos) y local (en un porcentaje), así como de la tensión de rotura. Se extrajeron tres rebanadas para los ensayos puntuales y para el cálculo de la densidad. En las otras 26 piezas se repitieron los ensayos (transmisión de onda, vibración y clasificación visual) durante el proceso de secado natural, desde que la madera se encontraba húmeda (en torno al 40 %) hasta la humedad de equilibrio higroscópico (en torno al 9%). Respecto a la clasificación visual no se han observado diferencias significativas entre la calidad MEG o las rechazadas. Se han estudiado las consecuencias del secado (principalmente las deformaciones) y no se ha encontrado justificación para que estos defectos penalicen la clasificación. Para la densidad, el mayor R2 obtenido ha sido de un 47% a partir del uso combinado de los dos equipos puntuales (penetrómetro y arranque de tornillo). Para el módulo de elasticidad y la tensión de rotura, la mejor relación se ha obtenido a partir de la técnica de vibración longitudinal, con unos coeficientes de 79% y un 52% respectivamente. Se ha estimado que el aumento de un punto porcentual en el contenido de humedad de la madera produce una pérdida de velocidad de onda del 0,58% para Sylvatest y Microsecond Timer, y del 0,71% para PLG. Estos valores son generalizables para un rango de humedades entre 9 y 25 %. Abstract This Doctoral Thesis approach the study of some non-destructive techniques as a classification method for structural use of Scots pine wood of Spanish origin with large cross section. To estimate the modulus of elasticity and strength have been used techniques based on the propagation of a wave through the timber: ultrasonic wave (Sylvatest) or stress wave (Microsecond Timer) in longitudinal direction, or vibration in longitudinal and transversal direction (PLG). Local probing methods have been applied to estimate the density, based on penetrometer (Pilodyn) and the screw withdrawal resistance meter. The different variables obtained were compared with the results of the visual grading and the values of the properties of the wood determined by the standardized test of the pieces. Furthermore, the influence of the moisture content of the wood on the velocity of propagation of the waves through the timber has been analyzed in order to establish a correction factor for the commercial devices used in this Doctoral Thesis. The sample tested consists of 244 pieces from El Espinar, Segovia, with nominal dimensions 150 x 200 x 4000 mm (218 pieces) and 100 x 150 x 3000 mm (26 pieces). Data collection about dimensions, moisture content and visual grading according to the UNE 56544 standard were carried out on all the pieces. The first 218 pieces were tested by non destructive techniques based on ultrasonic wave, stress wave and vibration, the density was measured on each piece and bending test according to the UNE-EN 408 standard was carried out for calculating the global modulus of elasticity (all the pieces) and the local one (only a representative group), as well as the bending strength. Three slices were removed for implementing the local probing and to calculate the density. In the other 26 pieces the tests (wave transmission, vibration and visual grading) were repeated during the natural drying process, from wet timber (around 40 % moisture content) up to the equilibrium moisture content (around 9%). Regarding the visual grading no significant differences were observed between MEG or rejected pieces. The effects of drying (deformations) have been studied, and justification for the specification hasn't been found. To estimate the density, the greater R2 obtained was 47% by using both penetrometer and screw withdrawal. For the modulus of elasticity and bending strength, the best relationship has been found with the longitudinal vibration, with coefficients of 79% and 52% respectively. It has been estimated that an increase of a point of the moisture content of the wood produces a decrease on the velocity obtained from ultrasonic or stress wave of 0,58%, and 0,71 % for the one obtained from vibration. Those values can be generalized for a range of moisture content from 9 to 25 %.

Dynamic stiffness analysis of bridge abutments

Strong motion records obtained in instrumented short-span bridges show the importance of the abutments in the dynamic response of the structure. Existing models study the pier foundation influence but not the abutment performance. This work proposes two and three dimensional boundary element models in the frequency domain and studies the dimensionless dynamic stiffness of standard bridge abutments.

Dimensional synthesis of a spherical parallel manipulator based on the evaluation of global performance indexes

In this work, the dimensional synthesis of a spherical Parallel Manipulator (PM) with a -1S kinematic chain is presented. The goal of the synthesis is to find a set of parameters that defines the PM with the best performance in terms of workspace capabilities, dexterity and isotropy. The PM is parametrized in terms of a reference element, and a non-directed search of these parameters is carried out. First, the inverse kinematics and instantaneous kinematics of the mechanism are presented. The latter is found using the screw theory formulation. An algorithm that explores a bounded set of parameters and determines the corresponding value of global indexes is presented. The concepts of a novel global performance index and a compound index are introduced. Simulation results are shown and discussed. The best PMs found in terms of each performance index evaluated are locally analyzed in terms of its workspace and local dexterity. The relationship between the performance of the PM and its parameters is discussed, and a prototype with the best performance in terms of the compound index is presented and analyzed.

Abutments influence in the dynamic response of bridges

A simplified analytical model of a short span bridge is proposed. The inertial interaction effects of pier foundations and abutments has been included in order to evaluate the response sensitivities to different soil-structure interaction variables. The modification of natural frequency and damping properties is shown for typical short span bridges of the integral deck-abutment type for longitudinal vibrations or general bridges for the transverse ones.

Techniques to accelerate convergence of stress-controlled molecular dynamics simulations of dislocation motion

Dislocation mobility —the relation between applied stress and dislocation velocity—is an important property to model the mechanical behavior of structural materials. These mobilities reflect the interaction between the dislocation core and the host lattice and, thus, atomistic resolution is required to capture its details. Because the mobility function is multiparametric, its computation is often highly demanding in terms of computational requirements. Optimizing how tractions are applied can be greatly advantageous in accelerating convergence and reducing the overall computational cost of the simulations. In this paper we perform molecular dynamics simulations of ½ 〈1 1 1〉 screw dislocation motion in tungsten using step and linear time functions for applying external stress. We find that linear functions over time scales of the order of 10–20 ps reduce fluctuations and speed up convergence to the steady-state velocity value by up to a factor of two.

Simplified modelling of bridge abutments-soil interaction under seismic effects

A simplified model is proposed to show the importance that the dynamic soil-abutment interaction can have in the global behavior of bridges submitted to seismic loading. The modification of natural frequency and damping properties is shown in graphic form for typical short span bridges of the integral deck-abutment type for longitudinal vibrations or general ones for transverse vibrations.

Dynamic Soil-Structure Interaction in Bridge Abutments

Strong motion obtained in instrumental short-span bridges show the importance of the abutments in the dynamic response of the whole structure. Many models have been used in order to take into account the influence of pier foundations although no reliable ones have been used to analyse the abutment performance. In this work three-dimensional Boundary Element models in frequency domain have been proposed and dimensionless dynamic stiffness of standard bridge abutments have been obtained.

Design and kinematic analysis of 3PSS-1S wrist for needle insertion guidance

In this work it is presented a complete kinematic analysis of the 3PSS-1S parallel mechanism for its implementation as a spherical wrist for a needle insertion guidance robot. The spherical 3PSS-1S mechanism is a low weight and reduced dimension parallel mechanism that allows spherical movements providing the requirements needed for the serial–parallel robotic arm for needle insertion guidance. The solution of its direct kinematic is computed with a numerical method based on the Newton–Raphson formulation and a constraint function of the mechanism. The input–output velocity equation is obtained with the use of screw theory. Three types of singular postures are identified during simulations and verified in the real prototype. The 3PSS-1S can perform pure rotations of ±45°±45°, ±40°±40°, ±60°±60° along the View the MathML sourcex, View the MathML sourcey, View the MathML sourcez axes respectively.