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The six-dof PKM described here bears a simple three-limb structure with all its motors mounted on the base, thereby avoiding limb-interference while offering a low inertial load, which makes it quite suitable for high-speed operations.
Lateral loads were applied in several stages and ambient vibrations of the two accelerometers, mounted on the base and on the top of the wall, were also recorded in stages.
The 27 promising 6-dof parallel kinematic structures with lower coupling degree between independent loops, actuated by six rotation joints mounted on the base, are presented originally in this paper.
The two guides combined and mounted on the base plate are shown in the rendering in Fig. 6.
The module was placed on a large flat 6.35-mm-thick steel plate, which was firmly mounted on the base holder of an Instron Ceast-9350 drop tower.
The stainless steel frame was then mounted on the base plate.
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A miniaturized headstage (by IY, equivalent to HS-2A headstage with gain x0.1, Axon Instruments [now Molecular Devices, CA]) was mounted on the back of the base to send signals and receive command current from the intracellular recording amplifier (AxoClamp-2B; Axon Instruments) through a flexible tether cable (Omnetics, MN).
The system consisted of a 6-degrees of freedom (DoF) industrial robotic manipulator (TX90; Stäubli, Pfäffikon, Switzerland), robot controller (CS8C; Stäubli), 6-axis force/torque sensor (Gamma; ATI Industrial Automation, Apex, NC), end-effector attachment for the tibial bone pot, and fixed femoral mounting on the base of the robot (Fig 4).
In the MGF-S unit, three sensor elements are mounted on the sensor base to measure the three orthogonal components of the magnetic field.
All of these segments, both electric and magnetic, are mounted on the same base plate, aligned outside the vacuum chamber and then installed.
A patch-type antenna is designed for the mission with a size of 200 mm × 200 mm mounted on the antenna base, which is made of aluminum alloy and Teflon block, with a total height of 100 mm to obtain its bandwidth and reduce interference from other structural objects in the bottom panel of the MCE facing to the nadir direction.
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