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This study proposes new wire mechanism called "the redundant drive wire mechanism" (RDWM), driven by double actuator modules. The RDWM is configured with velocity constraint modules (VCMs) that provide high-acceleration global and fine local motions. Suitable RDWM candidates are found by combining the kinematic analysis with static force analysis. The study also clarifies the role of VCMs in reducing the required number of actuators while keeping the orientation of the top plate. We propose a judgment procedure with three steps: a static force analysis in the whole motion space, a kinematic analysis that finds the active constraint space wherein the top plate can produce velocity and a static force analysis in this active constraint space. The proposed judgment procedure and the role of VCMs are validated by examples.

The use of ohmic heating (OH) to inactivate damaging elements in pomelo juice was evaluated. The work investigated the effect of frequencies (50–20 000 Hz) on pectin methylesterase (PME) and Lactobacillus plantarum (L. plantarum) in pomelo juice at 30 V cm−1 of electric field strength. The results show that frequency does not affect PME inactivation (P > 0.05) but affects bacterial reduction and has the most efficiency at 60 Hz, followed by 50 Hz, and in the frequency range at or higher than 500 Hz (P < 0.05). Additionally, the inactivation kinetics of PME and L. plantarum and the impact of nonthermal factors were given. The nonthermal element has contributed to the inactivation enhancement of L. plantarum and PME to reduce the necessary treatment temperature and time. The major spoilage bacteria and enzyme destruction in pomelo juice occurred faster under OH than under conventional heating (CH) suggesting that OH can be effectively used to pasteurise pomelo juice.

A new wire mechanism called "redundant drive wire mechanism" (RDWM), driven by double actuator modules (DAMs) is introduced. When RDWM is used for producing multi-directional motions using DAMs, the number of wires increases and the wire matrix would become complicated. This makes finding and checking the candidates difficult. Therefore, we introduce an easier and simpler approach for judging RDWM candidates, which includes two procedures: conversion of the wire matrix to a new form, and judgment of candidates using the essential component of the new form of wire matrix related to the global motion. This paper shows a fast and convenient method for judging whether an RDWM candidate can produce the resultant forces needed to achieve required motions. The examples demonstrate the validity of the new method in dealing with RDWM candidates containing many wires.