Virtual Prototyping of a Parallel Robot actuated by Servo-Pneumatic Drives using ADAMS / Controls
Advanced pneumatic drives for servo-pneumatic positioning allow for new generations of handlings and robots. Especially parallel robots actuated by servo-pneumatic drives allow the realization of very fast pick and place tasks in 3-D space. The design of those machines requires a virtual prototyping method called the mechatronic design [ 1]. The most suitable software tools are ADAMS for mechanics and Matlab/Simulink for drives and controllers. To analyze the overall behavior the co-simulation using ADAMS/Controls is applied. The combination of these powerful simulation tools guarantees a fast and effective design of new machines.
TRIPLANAR-a new process-machine type developed by means of the mechatronics design
TRIPLANAR is the name for a new machine type with six degrees of freedom. It serves for highly precise processing and measurement tasks. The design principle with new parallel kinematics was proposed by Mechatronics Laboratory Paderborn. An optimal design (both hardware and software) of the system can only be achieved by applying the so-called mechatronics design method. The core of this method is the consideration of the overall system including the interactions of all components involved. Special attention is paid to the actuators of the machine. These consist of three planar hybrid steppers each serving for two directions. The drives applied, however, are converted into servo drives which allow the actuator to induce a force into the mechanical system. The modelling of the drives is explained in greater detail.
Copper Phthalocyanine Improving Nonaqueous Catalysis of Pseudomonas cepacia Lipase for Ester Synthesis
The nonaqueous catalysis of lipases is significant for synthesis of high pure esters, but they usually behave low catalytic activity due to denaturation and aggregation of enzyme protein in organic phases. To improve the nonaqueous catalysis, the inexpensive copper phthalocyanine was taken as a new carrier on which Pseudomonas cepacia lipase was immobilized by physical absorption, and used for synthesis of hexyl acetate, an important flavor, via transesterification of hexanol and vinyl acetate. Results showed that the desired loading was 10 mg lipase immobilized on 10 mg copper phthalocyanine powder. When the immobilized lipase was employed in the reaction system consisted of 1.5 mL hexanol and 1.5 mL vinyl acetate at 37℃ and 160 rpm, the conversion was five fold of that catalyzed by native lipase after 1 h, and reached 99.0% after 8 h. Undergoing six times of 8-h reuses, the immobilized lipase had an activity attenuation rate 1.22% h− 1, lower than 1.77% h− 1 of native lipase, which meant that the immobilized lipase was more stable. Even at the room temperature and the static state without shaking or stirring, the immobilized lipase could bring conversion 42.8% after 10 h and the native lipase gave 20.1%. Obviously, the immobilized lipase is an available biocatalyst in organic phase and has great potential in food industry.