Structural Synthesis of 3-DoF Spatial Fully Parallel Manipulators

In this paper, the architectures of three degrees of freedom (3-DoF) spatial, fully parallel manipulators (PMs), whose limbs are structurally identical, are obtained systematically. To do this, the methodology followed makes use of the concepts of the displacement group theory of rigid body motion. This theory works with so-called 'motion generators'. That is, every limb is a kinematic chain that produces a certain type of displacement in the mobile platform or end-effector. The laws of group algebra will determine the actual motion pattern of the end-effector. The structural synthesis is a combinatorial process of different kinematic chains' topologies employed in order to get all of the 3-DoF motion pattern possibilities in the end-effector of the fully parallel manipulator.

Análisis Dinámico de mecanismos paralelos con requisitos de diseño mecatrónico

[ES]El objetivo del presente TFG es el Análisis Dinámico de mecanismos paralelos según las necesidades de la mecatrónica. La mecatrónica requiere expresiones explícitas de las fuerzas motoras que sólo dependen de las propias posiciones, velocidades y aceleraciones en los accionamientos. Ello requiere métodos avanzados de la mecánica analítica de sólido rígido. Concretamente se han desarrollado la ecuación de Lagrange modificada (según [11]) y la ecuación de Boltzmann-Hamel modificada, siendo esta última una aportación de este TFG. Como aplicación práctica se ha programado un modelo mecatrónico para un manipulador paralelo 5R y se ha optimizado el diseño de una Multi Axis Simulation Table 3PRS.

Entanglement negativity in the harmonic chain out of equilibrium

We study the entanglement in a chain of harmonic oscillators driven out of equilibrium by preparing the two sides of the system at different temperatures, and subsequently joining them together. The steady state is constructed explicitly and the logarithmic negativity is calculated between two adjacent segments of the chain. We find that, for low temperatures, the steady-state entanglement is a sum of contributions pertaining to left-and right-moving excitations emitted from the two reservoirs. In turn, the steady-state entanglement is a simple average of the Gibbs-state values and thus its scaling can be obtained from conformal field theory. A similar averaging behaviour is observed during the entire time evolution. As a particular case, we also discuss a local quench where both sides of the chain are initialized in their respective ground states.

Density-potential mapping in the standard and quantum electrodynamical time-dependent density functional theory

131 p.