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机械臂是机器人的重要组成部分,也是机器人学的一个研究热点.传统的2R全驱动机械臂由两个驱动电机和两连杆构成,此种控制已经趋于成熟.由于轻型化和可靠性要求的提高,依靠动力学耦合特性进行控制的欠驱动机械臂已成为目前研究的热点.首先使用模糊算法对欠驱动机械臂进行控制,进而指出此方法在耦合系数较大时所引起的高频振动的现实.基于... 相似文献
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设计开发了一台小型螺旋轮式驱动管道检测机器人。采用以PIC单片机作为系统的核心控制器,数字式PWM作为电机驱动控制方式,车轮旋转速度作为反馈量的全闭环伺服控制系统。并利用C#语言开发出一套上位机控制软件,通过Wifi无线通信的方式实现对管道机器人的远程遥控。为了提高控制系统的精度和性能,采用了模糊自适应PID控制算法。在实验平台上的运行表明:该机器人具有很好的稳定性和可控性。 相似文献
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注塑机驱动系统噪声和振动研究 总被引:1,自引:0,他引:1
在注塑机驱动系统的噪声振动研究中,伺服电机和变量泵的联接方式对系统的噪声和振动产生较大的影响。针对高速度、高精度和低噪声之间的矛盾,提出了对电机和泵联接方式的结构改进设计。用当量扭振系统的理论对两质量和三质量系统进行了分析。对扭振系统进行了仿真并进行了运行实验,实验表明,电机和泵同轴的两质量系统有利于减少振动和噪声。 相似文献
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乙烯酮(双乙烯酮)是十分重要的化工中间体,其下游产品较多。江苏某化工厂开发生产乙烯酮(双乙烯酮)下游产品三十多个,年生产规模三万多吨,是国内以乙烯酮(双乙烯酮)为中间体生产精细化学品的综合骨干企业。针对乙烯酮(双乙烯酮)下游产品废水特点,该厂结合企业实际,开展了产品优化,结构调整,清洁生产,资源循环利用,节水降耗等工作,从源头削减了污染物的生产。同时投资二千多万元新建预处理装置三套,6000m3/d废水生化处理装置一套,使全厂乙烯酮(双乙烯酮)下游产品的废水得到了有效的治理。 相似文献
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D. G. Gordeev L. F. Gudarenko M. V. Zhernokletov V. G. Kudel’kin M. A. Mochalov 《Combustion, Explosion, and Shock Waves》2008,44(2):177-189
A semi-empirical equation of state for metals is described. Its capabilities are demonstrated by the example of the equation
of state for aluminum. New experimental data are presented on the location of the isentrope of aluminum for unloading from
the state at p = 229.71 GPa on the shock adiabat to an aerogel (SiO2) of density 0.08 g/cm3.
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Translated from Fizika Goreniya i Vzryva, Vol. 44, No. 2, pp. 61–75, March–April, 2008. 相似文献
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Jorge Marcelo Romero Soledad Bustillo Hugo Enrique Ramirez Maisuls Nelly Lidia Jorge Manuel Eduardo Gómez Vara Eduardo Alberto Castro Alicia H. Jubert 《International journal of molecular sciences》2007,8(7):688-694
A thermochemical rather simple experimental technique is applied to determine the enthalpy of formation of Diperoxide of ciclohexanone. The study is complemented with suitable theoretical calculations at the semiempirical and ab initio levels. A particular satisfactory agreement between both ways is found for the ab initio calculation at the 6–311G basis This set level. Some possible extensions of the present procedure are pointed out. 相似文献
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The objective of the study was to explore the effect of the degree of deacetylation (DD) of the chitosan used on the degradation rate and rate constant during ultrasonic degradation. Chitin was extracted from red shrimp process waste. Four different DD chitosans were prepared from chitin by alkali deacetylation. Those chitosans were degraded by ultrasonic radiation to different molecular weights. Changes of the molecular weight were determined by light scattering, and data of molecular weight changes were used to calculate the degradation rate and rate constant. The results were as follows: The molecular weight of chitosans decreased with an increasing ultrasonication time. The curves of the molecular weight versus the ultrasonication time were broken at 1‐h treatment. The degradation rate and rate constant of sonolysis decreased with an increasing ultrasonication time. This may be because the chances of being attacked by the cavitation energy increased with an increasing molecular weight species and may be because smaller molecular weight species have shorter relaxation times and, thus, can alleviate the sonication stress easier. However, the degradation rate and rate constant of sonolysis increased with an increasing DD of the chitosan used. This may be because the flexibilitier molecules of higher DD chitosans are more susceptible to the shear force of elongation flow generated by the cavitation field or due to the bond energy difference of acetamido and β‐1,4‐glucoside linkage or hydrogen bonds. Breakage of the β‐1,4‐glucoside linkage will result in lower molecular weight and an increasing reaction rate and rate constant. © 2003 Wiley Periodicals, Inc. J Appl Polym Sci 90: 3526–3531, 2003 相似文献
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醋酸纤维素取代基分布与性质的关系 总被引:9,自引:0,他引:9
分析了以吡啶为溶剂的醋酸纤维素的13C-NMR核磁共振谱,得出了三种不同位置羟基的取代度。结合X—射线和DSC分析,初步说明具有相同取代度但未经水解和经过水解的醋酸纤维素(CA) 性质上的差异是由于三个羟基上的取代度分布不同及消晶程度差异所致。 相似文献
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1 INTRODUCTIONBecause of importance of equations of state (EOS)in science and industry,hundreds forms of EOS havebeen presented since latter 19th century.It seems impossible to develop a general equation covering vari-ous kinds of EOS.But for cubic EOS,several generalequations have been reported already. Martin presented the first general equation whichis following p=RT/V-α(T)/(υ β)(υ γ) δ(T)/υ(υ β)(υ γ) (1) Kumar et a1.presented an equation called the most general form of a density-cubic or, alterna tively,volume-cubic mathematical equation,the form of which is as follows 相似文献