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Discussed in this paper is the Cartesian stiffness matrix, which recently has received special attention within the robotics
research community. Stiffness is a fundamental concept in mechanics; its representation in mechanical systems whose potential
energy is describable by a finite set of generalized coordinates takes the form of a square matrix that is known to be, moreover,
symmetric and positive-definite or, at least, semi-definite. We attempt to elucidate in this paper the notion of “asymmetric
stiffness matrices”. In doing so, we show that to qualify for a stiffness matrix, the matrix should be symmetric and either
positive semi-definite or positive-definite. We derive the conditions under which a matrix mapping small-amplitude displacement
screws into elastic wrenches fails to be symmetric. From the discussion, it should be apparent that the asymmetric matrix
thus derived cannot be, properly speaking, a stiffness matrix. The concept is illustrated with an example. 相似文献
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对唐钢第二炼铁厂3#高炉开口机的工作原理及其在工作中存在的问题进行了分析,通过对开口机四连杆机构、十路接头油管的改造,节约了大量的备件费用,具有较好的推广使用价值。 相似文献
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《Drying Technology》2007,25(3):475-481
A method to minimize twist has been investigated; i.e., drying the boards in a pre-twisted position. It has been found that Norway spruce boards can be deformed toward straightness by this method. The force exerted by a board on its holders during drying in a pre-twisted position has been measured. When the variation in torsional stiffness as a function of temperature and moisture content is accounted for, it is found that a creep deformation of the board occurs both during the drying phase and the cooling phase. In addition to mechano-sorptive creep, a deformation released by a change in temperature also seems to occur. 相似文献
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1 100 dtex涤纶帘子线直捻机加捻工艺探讨 总被引:2,自引:0,他引:2
采用1 100 dtex涤纶工业丝,在K3501型直捻机上加捻生产涤纶帘子线,锭速8 000 r/min,捻度 440 T/m,外纱张力65%,超喂比5%,防叠角(20±1)°,生产的复捻线断裂强力大于145 N,断裂强力及断裂伸长不匀率均小于1%。同两步法加捻相比,产晶质量和经济效益均明显提高。 相似文献
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用不同股数和捻度的涂碳纤维设计了12种导电复合丝线,通过对导电复合丝线的拉伸研究电阻与伸长率的关系,并用回归模型分析评价这些导电复合丝线的灵敏度、线性度和电阻变化的稳定性.研究表明:在拉伸过程中电阻变化较明显地分成两个阶段:第一阶段拉伸率为0~11.67%,电阻变化较慢,线性度好,第二阶段拉伸率为11.67%~25%,电阻变化快,线性度相对较差;随着股数的增加灵敏度逐渐降低;在第一阶段捻度为450 T/m的试样比其他试样线性度好. 相似文献
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It is proposed that the twist in polyethylene chains that can result from crystallization and subsequent deformation aggregates at boundaries and becomes a template for further reorganization that results in the long period observed in polyethylene fibres. The observed lower density at the boundaries requires the transport of free volume to the twist boundaries. Dispirations, disclinations and dislocations are crystallographic defects that are involved in the necessary transport mechanism. Twist and bend, derived from the Eulerian angles which are computed from the sets of chain internal coordinates, relate the orientation of different segments of a chain. Twist and bend are useful for the characterization of both crystallographic defects and arbitrary conformations of polymer chains. Defects, along with folds, chain ends, and ordinary edge and screw dislocations provide a basis for interpretation of structure-property relationships in solid polyethylene. 相似文献