Approaches to crystallization from ionic liquids: complex solvents-complex results, or, a strategy for controlled formation of new supramolecular architectures?

There are now more than 1200 papers a year describing research results using the 'neoteric' solvents, known as ionic liquids (ILs). If ILs are such highly studied solvents, why has there been so comparatively little research in their use in crystallization? Here we explore this question and discuss possible strategies for utilization of the mundane and the unique aspects of ILs for novel crystallization strategies including crystallization of high and low melting solids using thermal shifts; ''solvothermal'' techniques; slow diffusion; electrocrystallization; and use of a co-solvent. The results presented here and those appearing in the literature indicate both the complex nature of these solvents and their promise in delivering unique solvation, metal ion coordination numbers, coordination polymer motifs, and metal-anion interactions, to name but a few. These complex, but fascinating, results and the promise of much more intimate control over crystallization processes will drive a growing interest in using ILs as crystallization solvents.

Kinematic Design of a 6-DOF Parallel Manipulator with Decoupled Translation and Rotation

A new three-limb, six-degree-of-freedom (DOF) parallel manipulator (PM), termed a selectively actuated PM (SA-PM), is proposed. The end-effector of the manipulator can produce 3-DOF spherical motion, 3-DOF translation, 3-DOF hybrid motion, or complete 6-DOF spatial motion, depending on the types of the actuation (rotary or linear) chosen for the actuators. The manipulator architecture completely decouples translation and rotation of the end-effector for individual control. The structure synthesis of SA-PM is achieved using the line geometry. Singularity analysis shows that the SA-PM is an isotropic translation PM when all the actuators are in linear mode. Because of the decoupled motion structure, a decomposition method is applied for both the displacement analysis and dimension optimization. With the index of maximal workspace satisfying given global conditioning requirements, the geometrical parameters are optimized. As a result, the translational workspace is a cube, and the orientation workspace is nearly unlimited.

Effects of Constraint Errors on Parallel Manipulators with Decoupled Motion

From perspective of structure synthesis, certain special geometric constraints, such as joint axes intersecting at one point or perpendicular to each other, are necessary in realizing the end-effector motion of kinematically decoupled parallel manipulators (PMs) along individual motion axes. These requirements are difficult to achieve in the actual system due to assembly errors and manufacturing tolerances. Those errors that violate the geometric constraint requirements are termed “constraint errors”. The constraint errors usually are more troublesome than other manipulator errors because the decoupled motion characteristics of the manipulator may no longer exist and the decoupled kinematic models will be rendered useless due to these constraint errors. Therefore, identification and prevention of these constraint errors in initial design and manufacturing stage are of great significance. In this article, three basic types of constraint errors are identified, and an approach to evaluate the effects of constraint errors on decoupling characteristics of PMs is proposed. This approach is illustrated by a 6-DOF PM with decoupled translation and rotation. The results show that the proposed evaluation method is effective to guide design and assembly.