Joint stick-slip friction compensation of robot manipulators by using smooth robust controllers

In this article, two new smooth robust nonlinear compensators have been developed, respectively, for positional regulation and trajectory tracking of rigid robot manipulators with internal joint stick-slip friction. The proposed controllers can improve not only the positioning accuracy but also the smoothness of motion. No exact knowledge of the friction models is required for the design of the controllers. Furthermore, the tracking controller is also robust with respect to the uncertain link parameters. Using Lyapunov's direct method, we can show that the time-invariant positional regulation controller guarantees the global boundedness stability of the closed-loop system, while the time-varying positional tracking controller guarantees the global asymptotic stability of the closed-loop system. The numerical simulations of the controllers on a two-link robot are presented as illustrations. © 1994 John Wiley & Sons, Inc.     

变结构变参数设计方法及其在机械CAD中的应用

提出了一种新颖的机械结构设计思想－变结构变参数设计方法，并结合实例，阐述了变结构变参数设计的概念、原则、实施措施和意义。由此对Ｉ－ｄｅａｓ软件包进行了二次开发，编制了发动机曲轴专用ＣＡＤ软件程序，并用某型号发动机曲轴进行了验证。     

Fatigue crack propagation properties from small sized rod specimens

Mechanical properties characterization is needed in many industrial applications yet sufficient amount of material for fabricating standard-sized testing specimens is often not available. Techniques for testing miniaturized specimen must be adopted. Much effort has been made to develop techniques for impact, fracture toughness and tensile properties of sub-sized specimens. Work on the testing of fatigue properties is more limited. In this study, fatigue crack propagation behavior is evaluated from the growth of surface crack in a cylindrical rod under tension. Rods of various lengths and diameters were tested. As the size of the rod specimen is reduced, the fatigue crack growth rate tends to increase when correlated using the stress intensity factor range. This increase is explained largely by the decrease in the degree of premature crack closure in the small specimens. Valid fatigue crack growth data can be obtained among the specimens examined except on the crack growth on the surface of the smallest specimen, which has a length of 26 mm and diameter of 8 mm. Even so, valid data can still be elucidated on the latter specimen if the interior growth is considered. The dimensions of the latter specimen allow fatigue properties to be evaluated using broken remnants from impact or other test specimens.     

一种应用于二次布局的有效划分方法

提出了一种基于二次布局的结合MFFC结群和hMETIS划分的算法.实验表明:这种方法能得到很好的布局结果,但是运行消耗的时间比较长.为了缩短划分在二次布局中运行的时间,提出了一种改进的结群算法IMFFC,用它在二次布局中做划分.与前者相比较,这种方法虽然布局质量稍差,但速度更快.     

微合金化高强度钢轧制采用的工艺技术

本文综述微合金化高强度钢轧制采用的工艺技术，其中包括热装热送、板坯加热、控轧控冷、快速冷却、采用的新设备等工艺技术。重点是生产低碳、高韧性、高强度、易焊接的造船用钢采用形变热处理技术，以提高产量和质量，节省昂贵的Ｎｉ、Ｃｒ、Ｍｏ等合金，降低生产成本。     

过共晶Al－Si合金共生区激光表面处理

用２ｋＷ连续ＣＯ２激光对过共晶Ａｌ－１８Ｓｉ合金以不同能量密度和扫描速度进行快速熔凝处理。用扫描电镜、电子微区分析仪分析了微观结构。从计算机对Ａｌ－Ｓｉ合金ｆ－ｎｆ系统的非平衡理论计算所得的共生区及实验结果的分析可见，当能量密度和扫描速度决定的凝固条件处于共生区中部时，过共晶Ａｌ－Ｓｉ合金激光表面处理可以得到共晶间距低于２００ｎｍ的完全共晶结构。     

亲电聚合路线合成聚醚醚酮酮砜的研究

用4,4′-二苯氧基二苯砜(DPODPS)分别与对苯二甲酰氯(TPC)、间苯二甲酰氯(IPC)或2,5-二氯对苯二甲酰氯(DCC)在1,2-二氯乙烷(DCE)中,以无水 AlCl_3为催化剂,在 N-甲基吡咯烷酮(NMP)存在下,通过付-克亲电聚合反应,制得了五种不同结构的聚醚醚酮酮砜(简称PEEKKS)。用红外光谱(IR)、X-射线衍射(XRD)、扫描电镜(SEM)、差示扫描量热(DSC)、热重(TG)及耐溶剂试验,对聚合物进行了表征。结果表明,五种聚合物的对数比浓粘度(η_(inh))均达到0.85以上.具有较低的熔融温度、良好的溶解性能和耐高温性能,PEEKKS 属于非晶态聚合物。