Abstract: The present disclosure provides a structural engineering dominated geotechnical structured permanent supporting system and a design method, and belongs to the technical field of underground structures. Through the technical solutions, the structural engineering dominated geotechnical structured permanent supporting system comprises a supporting structure designed on the basis of the partial coefficient of a permanent load, the supporting structure is connected to frame columns of a main structure through a plurality of connecting members arranged at intervals, and a partition wall for blocking soil mass is arranged between every two adjacent frame columns to form a permanent supporting system only bearing soil pressure in the horizontal direction of the supporting structure. When the system is designed, the combined action generated after the main structure and the supporting structure are connected is considered, so that the use of materials is reduced, and the cost is reduced.

Abstract: A linkage mechanism for a pick and place robot includes two rotatable drive members mounted on a base and connected to a platform by a respective two element linkage. The mid point of the two element linkage has a bell crank, the arms of which are connected to first and second location links anchored respectively at the base and platform. The platform may be configured to carry various implements, and the mechanism permits movement thereof in two dimensions by selective motion of the drive members.

Abstract: A linkage mechanism for a pick and place robot includes two rotatable drives mounted on a base and connected to a platform by parallelogram linkages, one assigned to each drive. Each parallelogram linkage may include a series of parallelogram linkages connected to one another by a bell crank that couples drive linkages with location linkages to assure proper positioning of the mechanism. This arrangements permits movement of the platform in two dimensions by selective rotation of the drives.