A constraint and position identification (CPI) approach for the synthesis of decoupled spatial translational compliant parallel manipulators

This paper introduces a screw theory based method termed constraint and position identification (CPI) approach to synthesize decoupled spatial translational compliant parallel manipulators (XYZ CPMs) with consideration of actuation isolation. The proposed approach is based on a systematic arrangement of rigid stages and compliant modules in a three-legged XYZ CPM system using the constraint spaces and the position spaces of the compliant modules. The constraint spaces and the position spaces are firstly derived based on the screw theory instead of using the rigid-body mechanism design experience. Additionally, the constraint spaces are classified into different constraint combinations, with typical position spaces depicted via geometric entities. Furthermore, the systematic synthesis process based on the constraint combinations and the geometric entities is demonstrated via several examples. Finally, several novel decoupled XYZ CPMs with monolithic configurations are created and verified by finite elements analysis. The present CPI approach enables experts and beginners to synthesize a variety of decoupled XYZ CPMs with consideration of actuation isolation by selecting an appropriate constraint and an optimal position for each of the compliant modules according to a specific application.

The status of Ireland's climate, 2012

Ireland’s climate is changing. This is consistent with regional and global trends which display rapid changes in many aspects of climate over the last century and the first decade of this century. The availability of high-quality climate observations is a critical starting point from which an understanding of past and emerging trends in the current climate can be developed. Such observations are vital for detecting change and providing the information needed to help manage and plan for the future in a wide range of socio-economic sectors. Observations are also essential to help build robust projections of future climate, which can in turn inform policy formulation for appropriate mitigation and adaptation measures. Such measures should help us limit the negative socio-economic impacts and position us to take advantages of opportunities offered by a changing climate. This report brings together observational information and data for over 40 climate variables and highlights changes and trends in aspects of Irish climate across the atmospheric, oceanic and terrestrial domains. The observations presented in this report contribute to the formulation of the Essential Climate Variables (ECVs) as defined by the Global Climate Observing System (GCOS).