Orientationability analyses of a special class of the Stewart–Gough parallel manipulators using the unit quaternion representation

This paper addresses the orientation-singularity and orientationability analyses of a special class of the Stewart–Gough parallel manipulators whose moving and base platforms are two similar semi-symmetrical hexagons. Employing a unit quaternion to represent the orientation of the moving platform, an analytical expression representing the singularity locus of this class of parallel manipulators in a six-dimensional Cartesian space is obtained. It shows that for a given orientation, the position-singularity locus is a cubic polynomial expression in the moving platform position parameters, and for a given position, the orientation-singularity locus is an analytical expression but not a polynomial directly with respect to the mobile platform orientation parameters. Further inspection shows that for the special class of parallel manipulators, there must exist a nonsingular orientation void in the orientation space around the orientation origin for each position in the position-workspace. Therefore, a new performance index referred to as orientationability is introduced to describe the orientation capability of the special class of manipulators at a given position. A discretization algorithm is proposed for the computation of the orientationability of the special class of manipulators. Moreover, effects of the design parameters and position parameters on the orientationability are investigated in details. Based on the orientationability performance index, another novel performance index referred to as practical orientationability is presented which represents the practical orientation capability of the manipulator at a given position. The practical orientationability not only can satisfy all the kinematic demands and constraints of such class of manipulators, but also can guarantee that the manipulator is nonsingular.     

Nanoindentation measurement of core–skin interphase viscoelastic properties in a sandwich glass composite

Mechanics of Time-Dependent Materials - Debonding at the core–skin interphase region is one of the primary failure modes in core sandwich composites under shear loads. As a result, the...     

热挤压变形力计算的研究

本文考虑到变形区内切应力非线性分布的特点,采用球坐标系下的平衡微分方程和塑性条件联立求解,得出圆棒热挤压时变形区入口球面上的应力分布方程,然后应用功平衡法导出了圆棒热挤压力的计算公式。     

Fabrication of Cu(In,Ga)Se2 thin films by ion beam sputtering deposition from a quaternary target at different substrate temperatures

Cu(In, Ga)Se₂ (CIGS) thin films were fabricated by ion beam sputtering deposition from a single quaternary target at different substrate temperatures (T _sub). The thin films were characterized with X-ray diffractometry, scanning electron microscopy, energy-dispersive X-ray spectroscopy and four-point probe technique to study the microstructures, surface morphology, composition and electrical properties, respectively. The results show that the films grown above 400?°C are of chalcopyrite structure. Cu(In_0.7Ga_0.3)Se₂ thin film was obtained when T _sub is 550?°C. The Cu and Se atomic percentage when T _sub is above 500?°C is higher than when T _sub is below 500?°C. With the increase in T _sub, the surfaces morphology of the films is denser and the resistivity of the films decreases.     

Preparation and thermophysical properties of nano-sized Ln2Zr2O7 (Ln?=?La, Nd, Sm, and Gd) ceramics with pyrochlore structure

Rare earth zirconates (Ln₂Zr₂O₇, Ln = La, Nd, Sm, and Gd) with pyrochlore structure were prepared by hydrothermal method with polyethylene glycol as surfactant. X-ray diffraction, thermogravimetric analysis/differential scanning calorimetry, Fourier transform infrared spectroscopy, Raman spectroscopy, and field emission scanning electron microscopy were utilized to characterize the phase structure, thermal decomposition, and morphology of the products. Qualitative analysis indicates that the as-prepared zirconates are pyrochlore-type structures. The specific surface area, lattice parameter, and average crystallite size of the as-prepared products are closely related to the ionic radius. The activation energy of crystal growth shows an increasing trend with the decrease in ionic radii. The sintering behavior of compacted body was also investigated, revealing that the sintering-resistance properties of Ln₂Zr₂O₇ are descending as the order of La₂Zr₂O₇, Nd₂Zr₂O₇, Sm₂Zr₂O₇, and Gd₂Zr₂O₇.     

一种改进的气动弹性时域推进方法

针对气动弹性控制方程,结构项采用标准龙格库塔方法推进,广义气动力项采用时间上的插值技术,发展了一种在每一时间步内只用计算一次非定常气动力的近似四阶龙格库塔推进方法。通过计算非线性Bernoulli方程和某一超音速翼面的气动弹性响应,证明该方法的时间准确度远高于采用气动力冻结技术的四阶龙格库塔方法。其准确度与标准龙格库塔方法相差不大,而其调用非定常气动力求解器的次数仅为其四分之一,大大提高了气动弹性数值模拟的效率。对于一般的气动弹性响应而言,该时间推进方法只用保证每个周期内的时间步在20～30个左右就能满足较高的准确度要求。     

汽车挡风玻璃刮雨器的控制

本拟设计了一种用于汽车挡风玻璃上的自动雨点检测器及刮雨器控制装置,其原理利用了挡风玻璃中的光波导作用,并经模拟实验证实此方案可行。     

30.4 nm Si/C多层膜反射镜的制备与测量

采用离子束溅射镀膜装置制备了一种新的材料组合Si/C多层膜 ,用于 30 4nm波段的正入射多层膜反射镜。并用软X射线反射率计测得其反射比最大值为 0 14。有效地抑制了 15 0nm处的二级衍射峰。     

Effect of V doping concentration on the electronic structure,optical and photocatalytic properties of nano-sized V-doped anatase TiO2

V-doped TiO₂ with V/Ti ratio of 1–5% has been synthesized by hydrothermal method and then characterized by XRD, TEM, BET specific surface area, XPS and UV–vis. absorption spectra. The photocatalytic activity of the as-synthesized samples was investigated by the degradation of methylene blue in aqueous solution under visible light irradiation. Density functional theory (DFT) based calculations were performed to investigate the mechanism of band gap narrowing, the shift of light absorption edge, the location of V in the TiO₂ lattice and the variation in electronic and optical properties of TiO₂ with the increase of V doping concentration. Irrespective of the V doping concentration, TEM images indicate that all the doped samples were composed of equiaxed spherical anatase TiO₂ particles with good crystallinity and uniform particle size distribution. Both the experimental results from XPS survey and the theoretical calculation argue that the doped V replaces the lattice Ti and form substitutional impurity. The visible light absorption can be optimized by adjusting the V doping concentration. Among the doped samples with different V doping concentrations, the sample with V/Ti ratio of 2% depicts better visible light photocatalytic activity due to the enhanced visible light absorption and improved separation of electron–hole pairs.