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1 – 10 of over 162000There is coupling between the branches of mobile parallel robots, similar to traditional parallel mechanisms, but there is currently relatively little research on the coupling…
Abstract
Purpose
There is coupling between the branches of mobile parallel robots, similar to traditional parallel mechanisms, but there is currently relatively little research on the coupling problem between the branches of mobile parallel robots.
Design/methodology/approach
This study optimizes the coupling analysis method of traditional parallel mechanisms, treats the mobile parallel mechanism as a whole, takes the motion of the active pair as input and the overall motion of the mobile parallel mechanism as output and analyzes the input–output characteristics of the mobile parallel mechanism. Moreover, this study applies this theory to a mobile parallel mechanism, designs control logic and finally conducts simulation and physical verification.
Findings
This study proposes a coupling analysis method suitable for parallel mobile robots and designs the control logic of their active pair based on the results of their coupling analysis. This study designs a multimode variable coupling parallel mobile robot, which can change the coupling of the mechanism by changing its own branch chain structure, so that it can switch between different coupling configurations to meet the different needs brought by different terrains.
Originality/value
The work presented in this paper propose a method for analyzing the coupling of mobile parallel robots and simplify their control logic by applying coupling theory to the design of mobile parallel robots. This study conducts simulation and physical experiments, thereby filling the gap in the coupling analysis of parallel mobile robots and laying the foundation for the research of uncoupled parallel mobile robots.
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This research paper aims to conceptualize digital transformation governance and its conventional mechanisms and to present governance solutions tailored to an organization’s level…
Abstract
Purpose
This research paper aims to conceptualize digital transformation governance and its conventional mechanisms and to present governance solutions tailored to an organization’s level of digital maturity. The objective is to provide a framework for large organizations to select appropriate governance mechanisms based on their digital maturity level, enabling them to effectively manage and govern their digital transformation journey.
Design/methodology/approach
The study employs a meta-synthesis methodology, systematically reviewing and synthesizing findings from 175 academic papers and 31 reports/white papers. The research involves a rigorous qualitative approach, including literature search, selection of relevant texts, information extraction, analysis of qualitative findings, quality control and presentation of findings.
Findings
The proposed model suggests a three-tiered approach to digital transformation governance based on the organization’s digital maturity: “beginner,” “intermediate” and “advanced” stages. The findings indicate that as an organization advances in its digital maturity, its governance mechanism tends to be less centralized and involves multiple relevant units. Conversely, organizations with lower digital maturity require a more concentrated approach to digital governance.
Research limitations/implications
The study is based on a systematic review and synthesis of existing literature. Further empirical research could validate and refine the proposed model.
Practical implications
By using the proposed maturity-driven model, organizations can choose a more suitable and effective governance mechanism for the realization of their digital transformation roadmap based on their digital maturity level. The model offers a comprehensive framework for selecting and combining appropriate governance mechanisms at each maturity stage.
Originality/value
The proposed framework offers a strategic and novel yet practical tool, enabling organizations to advance their digital governance capabilities in sync with their transformation roadmap. The study consolidates dispersed findings and expands the range of viable governance mechanisms contingent on digital progression.
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Chin Wei Liew and Nor Aziati Abdul Hamid
This study aims to collect empirical data and observe the type of influences that were causing impact to the implementation of information technology governance (ITG) mechanisms…
Abstract
Purpose
This study aims to collect empirical data and observe the type of influences that were causing impact to the implementation of information technology governance (ITG) mechanisms in Malaysia’s technical universities. This study enhanced the understanding on the status of ITG implementation and revealed internal and external influences that were shaping the types of ITG mechanisms implemented within universities and present a new perspective through the lens of resource-based view and continuous improvement.
Design/methodology/approach
This study focused on two Malaysia’s technical universities belongs under same university’s network. Five IT leaders involved in the implementations of ITG from each university were interviewed. Qualitative content analysis was used as the main analyzing method to extract categories and themes from the transcripts. Final results were produced after multiple efforts of refining categories and themes in ITG implementations.
Findings
The findings revealed that both Malaysia’s technical universities had more soundly implementations in structure mechanisms than relational and process mechanisms. The shaping of implemented mechanisms was influenced by environment surrounding the universities, internally and externally. The findings proposed that the internal and external factors are best addressed with the growth of internal ITG expertise.
Research limitations/implications
This research was conducted on two of Malaysia’s technical universities that were under a university network. Although both universities had presented the exact trend in the type of ITG mechanisms implemented in the universities, more empirical data were needed to further solidify the findings from this study. Other than that, the major respondents for this research were middle-level IT officers and leaders in the universities. Further research could be conducted specifically on top-level managements to further understand the point of views of top managements in the aspect of ITG mechanisms implementations in universities.
Originality/value
This study discussed how each factor could influence the types of ITG mechanisms implemented in Malaysia’s technical universities and concluded the attentions needed to improve the overall environment for ITG implementations in universities through the lens of resource-based view and continuous improvement.
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Masashi Konno, Yutaka Mizota and Taro Nakamura
This paper aims to develop a wave-transmitting mechanism for a travelling-wave-type omnidirectional mobile robot. Existing omnidirectional mechanisms are prone to movement…
Abstract
Purpose
This paper aims to develop a wave-transmitting mechanism for a travelling-wave-type omnidirectional mobile robot. Existing omnidirectional mechanisms are prone to movement instability because they establish a small contact area with the ground. The authors have developed a novel omnidirectional mobile robot that achieves stable movement by a large ground-contact area. The proposed robot moves by a wave-transmitting mechanism designed for this purpose.
Design/methodology/approach
To achieve stable movement, a spiral-type travelling-wave-propagation mechanism that mimics the locomotion mechanism of a snail was developed. The mechanism was applied to an omnidirectional mobile robot.
Findings
The practicality of magnetic attraction was verified in experiments of the wave-transmitting mechanism. Moreover, omnidirectional movement was confirmed in a robot prototype adopting this mechanism.
Research limitations/implications
The proposed robot will eventually be deployed in human spaces such as factories and hospitals. A mechanically improved version of the robot will be evaluated in load-driving experiments and equipped with control systems.
Originality/value
This paper proposes an omnidirectional mobile robot with a large ground contact area that moves by continuous travelling waves. The practicability of this mechanism was experimentally confirmed, and a prototype robot achieved omnidirectional movement.
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Zhang Han‐jiang and Luo Duan‐hong
The purpose of this paper is to describe how the performance of a system is determined.
Abstract
Purpose
The purpose of this paper is to describe how the performance of a system is determined.
Design/methodology/approach
Systems with the same structure or function often have different performances. What makes the difference? Within a system, the various actors make their decisions by their own and their actions depend on the mechanism of the system. The actors' strategy selection under different mechanisms and the mechanism design are precisely in the range of Game Theory. This paper compares two different pricing mechanisms, the Stackelberg Game and Cournot Game, in a linear supply chain. And the obtained result of the different behavior (Pm*, Pr*) and different performance (Um*, Ur*) of the supply chain obviously approves our proposition that the operational mechanism is of great importance to the performance of the system, the same as structure.
Findings
It is the structure of the system and operational mechanism which determines the performance of the system.
Research limitations/implications
The paper's limitations lie in the fact that it is not yet based on experimental evidence from real‐world systems.
Practical implications
Game Theory is one of the most effective methods to study the systematic mechanism, especially the mechanism designs, because it reveals the inherent nature of the systematic mechanism.
Originality/value
This paper points out that the mechanism which restricts each behavioral subject determines the performance of these systems. It puts forward a new region for the research of general system theory.
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Yonghua Chen and Chen Zhezheng
The main purpose of this study is to develop a systematic method that can minimize joint clearance for non‐assembly mechanism fabrication using a layer‐based fabrication…
Abstract
Purpose
The main purpose of this study is to develop a systematic method that can minimize joint clearance for non‐assembly mechanism fabrication using a layer‐based fabrication technology.
Design/methodology/approach
Joint clearance is one of the key factors affecting a mechanism's performance. Hertz theory is adopted to analyze the joint clearance‐penetration displacement relationship and the impact force‐displacement relationship. This analysis has indicated the importance of reducing joint clearance. To reduce joint clearance in layer‐based fabrication, a drum‐shaped roller is proposed for pin joint design in non‐assembly mechanism fabrication. Compared to cylindrical pin joint design, a drum‐shaped roller joint results in less impact force in mechanism operation. Furthermore, the joint clearance can also be drastically reduced.
Findings
Large joint clearance could introduce instability into the dynamic behaviour of a mechanism. By applying a drum‐shaped roller, the instability could apparently be alleviated. This has been demonstrated by both simulation and fabrication of a number of mechanisms with and without drum‐shaped pin joints.
Practical implications
Since the proposed joint design can reduce the joint clearance in rapid fabrication of non‐assembly mechanisms, it is possible to expand layer‐based rapid fabrication techniques for more mechanism design applications.
Originality/value
Layer‐based fabrication technologies have two distinct advantages: building parts without geometry restriction; and building sub‐systems (static or mobile) without the need for assembly. Only very few previous studies have investigated the applications that can benefit from the second advantage due to the limited accuracy of layer‐based technologies in making joints of a mechanism. Through the proposed drum‐shaped roller pin joint design together with the proposed joint design guidelines, joint clearance can be reduced significantly. Thus, sub‐systems or mechanisms built using layer‐based technologies could have accuracy close to the design specification. This will expand the application of layer‐based technologies to more mechanism or mobile mechanical system studies.
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Chu Xiaobing, Gao Feng and Ge Hao
The purpose of this paper is to present the direct kinematic analysis of a heavy‐payload forging manipulator. In the grasping stage, the manipulator is equivalent to a 3‐DOF…
Abstract
Purpose
The purpose of this paper is to present the direct kinematic analysis of a heavy‐payload forging manipulator. In the grasping stage, the manipulator is equivalent to a 3‐DOF under‐actuated mechanism. In order to deal with the direct position kinematics of the under‐actuated mechanism, the analysis is performed in two steps.
Design/methodology/approach
The paper analyzes the direct position kinematics of the 3‐DOF under‐actuated mechanism as follows: first, the authors add a virtual constraint on the mechanism, convert it to a 2‐DOF fully actuated mechanism and calculate the direct kinematics of the constrained mechanism. Then, the constraint is applied to many different positions and the corresponding direct kinematics of the constrained mechanism are calculated, respectively. Finally, the mechanism with lower gravitational potential energy than any other constrained mechanism is chosen, and its direct position is what is needed for the 3‐DOF underactuated mechanism.
Findings
The paper provides a solution for the direct kinematic analysis of a heavy‐payload forging manipulator in the grasping stage. Furthermore, the simulation and experiment results confirm the effectiveness of the solution.
Originality/value
The paper proposes a methodology to deal with the direct position kinematics of the 3‐DOF under‐actuated mechanism in two steps.
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Michael W. Stebbins and Judy L. Valenzuela
This chapter describes two change efforts involving participatory action research within the pharmacy operations division of Kaiser Permanente. Focus is on a parallel learning…
Abstract
This chapter describes two change efforts involving participatory action research within the pharmacy operations division of Kaiser Permanente. Focus is on a parallel learning mechanism that has been used to support communications and change during two large-scale information technology interventions. It begins with basic background information on participatory action research in organizations. Since the case setting is Kaiser Permanente, the chapter provides some information on the U.S. healthcare industry context and then shifts to Kaiser’s communication forum, a learning mechanism that has been in place for 35 years. Cognitive, structural, and procedural aspects of the learning mechanism are explored, and the chapter features interviews with some of the key forum players. Both in the forum’s infancy and in its current more institutionalized state, the pharmacy organization has been in crisis. Implications for the use of parallel learning structures on a long-term basis to support long-term participatory action research are explored along with contributions to theory on insider/outsider action research.
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Byungchae Jin and David A. Kirsch
Why do some ventures grow to become dominant market players while most new ventures that do not fail limp along more modest trajectories? In comparison with our knowledge…
Abstract
Why do some ventures grow to become dominant market players while most new ventures that do not fail limp along more modest trajectories? In comparison with our knowledge regarding determinants of venture creation or survival, the phenomenon of venture growth has been relatively neglected, both theoretically and empirically. Venture growth is a multi-level phenomenon co-occurring at different analytical and temporal levels. In this chapter we develop a theoretical model that accounts for venture growth as a process, drawing upon the mechanism-based theorizing approach. We offer nine social mechanisms that lead to venture growth, providing a foundation for empirical exploration and further theory building.
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