多关节机器人通用体系结构的研究

结合一个五自由度教学工业两用型机器人应用实例，构造出多关节机器人通用体系结构，包括总体原型、机械结构、关节传动链、伺服驱动元件、电气控制系统、关节坐标系及其运动学方程、通信协议和软件设计思路等。通过实际使用表明，本文提出的通用体系结构是实用的、合理的。     

Preparation and properties of nanosize MnZn ferrite from δ-FeOOH

Ferrous ion was transformed into feroxyhyte (δ-FeOOH) by oxidation. Then, manganese sulfate and zinc sulfate in some ratio were added to the feroxyhyte solution. The co-precipitation was boiling reflux conditions sometime under constant stirring. The nanosize MnZn ferrite powder was formed. The mechanism of preparation of the nanosize MnZn ferrite was discussed, and the formation of feroxyhyte which was playing a key role during the process was mentioned. The properties of powder was tested by means of X-ray diffraction, transmission electron microscopy and vibrating sample magnetometer. The results show that the samples of spherical particles about 20 nm, which have characteristics of ferrimagnetism, has larger saturation magnetization, but the remanent magnetization and coercivity are comparatively smaller. The spinel MnZn ferrite nanosize powder was successfully prepared from δ-FeOOH at low temperature, with low-carbon steel and peroxide as main material.     

Analysis of Intermetallic Phases Formed on Surface Vapor Oxidized H13 Hot Work Steels in Molten Aluminum

In this paper, the author dipped surface vapor oxidized H13 steel specimens into 700℃ molten aluminum liquid for a certain period of time. Analyze the intermetallic phases formed on the H13 samples surface with optical microscope and X-ray diffraction method. The observation of immersion test sample's cross-section shows that Fe3O4 film will protect die substrate from molten aluminum erosion. The identification of the intermetallic phases reveals that they consist of 2parts, which is named as the composite layer and the compact layer. Further investigations are made in order to know the phase constituents of the 2 layers, they are Al8Fe2Si (outer composite layer), (AlCuMg) and Al5Fe2 (compact layer),respectively. The experimental results show that on the same specimen, a convex surface with bigger radius of curvature is more likely to be molten and the melting loss speed is also faster than a flat and smooth surface. The thickness of compact layer on a smooth surface is much bigger than that of the convex surface. Therefore, the author supposes the compact layer is favorable in stabilizing the die surface material from further melting loss, as their formation on the die surface, the melting loss speed will decrease.     

环氧氯丙烷下游产品生产现状及市场前景

论述了环氧氯丙烷的主要下游产品环氧树脂、合成甘油、氯醇橡胶等的生产现状、市场前景等,指出:我国氯碱行业应该重视这些环氧氯丙烷下游精细化工产品的开发,以促进我国环氧氯丙烷的发展。     

火焰原子吸收光谱法测定高纯石英粉中痕量钙

系统地研究了用空气——乙炔火焰原子吸收光谱分析法测定高纯石英粉中钙的最佳条件，建立了14％的乙醇作为增感剂，在2％盐酸介质中，0．4％ LaCl3溶液作为释放剂，用塞曼火焰原子吸收法测定的可行性方案，探讨了共存元素对钙的干扰及其消除。方法操作简便快速，干扰少，方法相对标准偏差小于3％，适用于日常分析石英粉中的杂质。     

自粘聚合物改性沥青防水卷材胶粘剂

在SBS改性沥青防水卷材表面涂敷一层自粘性胶粘剂并以隔离纸覆盖，使用时撕掉隔离纸直接粘贴于屋面即可粘接密封牢，不但施工方便而且消除了熔融法施工造成的污染。该胶粘剂由沥青40％～65％，SBS 5％～30％，增粘剂2％～25％和助剂5％～25％构成。胶层具有可塑性、延展性，可自行填补屋面出现的裂缝，保证防水卷材的防水密封效果。     

OCO污水处理工艺在城市污水处理中的应用

介绍OCO工艺及其对城市污水处理的效果。普通城市污水经过该工艺处理之后 ,可以达到我国污水排放标准 ,还可以将所处理的污水经过三级处理之后 ,作为工业用水进行再利用。OCO工艺具有除氮除磷功能强、自动化程度高、运转方式灵活、占地少、出水水质稳定等特点 ,适用于高浓度工矿企业废水和城市生活污水的处理     

有限元方法在离心机转鼓强度分析中的应用

在回顾以往转鼓强度分析的基础上 ,指出了目前转鼓有限元应力分析所存在的问题 ,给出了提高计算精度和保证模拟有效性的注意事项 ,并探讨了转鼓强度评定准则     

Pt/C活性催化剂催化氢化合成6-氯-2-羟基喹喔啉

以对氯邻硝基乙酰乙酰苯胺为原料，在碱性条件下经环合及催化氢化合成6-氯-2-羟基喹喔啉。采用自制的Pt／C催化剂，考察了反应条件对产品收率的影响，在85℃，1．0～1．3MPa氢气压力下进行加氢还原反应，总收率89．6％(以对氯邻硝基乙酰乙酰苯胺转化为6-氯-2-羟基喹喔啉)。     

碳铵化肥发青问题解决小结

探讨了该厂化肥生产中碳铵发青的原因,通过硫化氢含量的测定,分析了系统内外影响因素,提出了解决措施,达到了不停车稳定产品质量的目的。