The screw theory is a useful tool to calculate the degrees of freedom of mechanisms. This paper focuses on two parallel mechanisms, 3SRR and SP+SPS+SPR. By establishing the proper coordinate system, the motion-screw system of each limb can be constructed, then the constraint-screw system is given by using a duality relationship. Finally, the mechanism motion-screw system can be obtained from the maximum linear independent constraint-screw subsystem of each limb. The degree of freedom (DOF) of a mechanism can be determined by the dimension of the mechanism motion-screw system
The DUDnCNN algorithm is a combination of feedforward denoising network and U-Net network with symmetric connections for better feature fusion. Net network with symmetric connections for better feature fusion, while the first proposed improved algorithm changes the network structure and adds asymmetric connections to achieve feature fusion between different layers again. In addition, the improved network with respect to residual learning and different ways of connectivity is also proposed and tested under different noises for training. From the experimental comparison effect, it can be seen that the improved algorithm of DUDnCNN has better applicability in fidelity and noise reduction and also has certain generalization ability, and the algorithm also has the feasibility of further investigation in the field of seismic data fidelity and noise reduction and seismic interpretation.
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