Error Averaging Effect in Parallel Mechanism Coordinate Measuring Machine
Error averaging effect is one of the advantages of a parallel mechanism when individual errors are relatively large. However, further investigation is necessary to clarify the evidence with mathematical analysis and experiment. In the developed parallel coordinate measuring machine (PCMM), which is based on three pairs of prismatic-universal-universal joints (3-PUU), error averaging mechanism was investigated and is analyzed in this report. Firstly, the error transfer coefficients of various errors in the PCMM were studied based on the established error transfer model. It can be shown how the various original errors in the parallel mechanism are averaged and reduced. Secondly, experimental measurements were carried out, including angular errors and straightness errors of three moving sliders. Lastly, solving the inverse kinematics by numerical method of iteration, it can be seen that the final measuring errors of the moving platform of PCMM can be reduced by the error averaging effect in comparison with the attributed geometric errors of three moving slides. This study reveals the significance of the error averaging effect for a PCMM.
Kinematic solution of 3-PSS parallel mechanism and its application in parallel CMM
A new style coordinate measuring system based on 3-PSS parallel mechanism was proposed to overcome the drawbacks and weaknesses of traditional Coordinate Measurement Machines(CMMs) and articulated arm CMMs and to realize 3D measurement with only one linear grating and one precision guide.A measurement model,a measuring error model as well as the error averaging effort of the parallel mechanism were investigated.Firstly,a 6-bar measurement model was achieved based on the theory of parallel kinematic mechanism.Then,the influence of bar length error and reading error from the liner grating were analyzed in detail and the hypostasis why parallel structure posses error averaging effort was revealed mathematically.Finally,the prototype CMM was introduced to its design,manufacturing and assemble and the experiment result was provided too.Results indicate that the measuring errors before compensation and instrument calibration in three dimensions are about 0.029 mm in x direction,0.045 mm in y direction and 0.058 mm in z direction.Obtained results can provide the direction for the design of new CMM protypes.
Comparison between Two Chemicals for Reducing Scale Formation in Reverse Osmosis Systems
In this present research was transacted with the calcium carbonate scale inhibition on the membrane surface of the reverse osmosis desalination system. Influence of changing feed solution flow rate (10-25)l/h, pH of the feed solution (6-10) on the recovery ,penetrate flow rate and total dissolved solid in (RO) system by using solution of calcium carbonate as feed solution was investigated, furthermore the effect of adding two types of scale inhibitor ,zinc chloride and polyamino polyether methylene phosphonate with difference concentration (2-8)mg/l for zinc chloride and (8-15) mg/l for polyamino polyether methylene phosphonate was calculated. The results showed that the permeate rate increases as the feed flow rate augmentation ,while it reducing with time, the total dissolved solids decreases as the feed flow rate increases while it increases with time and recovery rate decreases as the feed flow rate increases and it also decreases with time. It was concluded that the permeate rate decreases as the feed solution pH value increases and it cause high scale forming thus decrease the permeate TDS.By adding the scale inhibitor, it was found that the permeate rate and recovery rates increases as the concentration of inhibitor increases while the total dissolved solids decreases in the permeate with increasing the concentration of both inhibitors .It was discovered that Polyamino polyether methylene phosphonate more sturdy than zinc chloride as scale inhibitor for reverse osmosis desalination system in all concentrations was studied in this article.