Kinematic control of redundant robots and the motion optimizabilitymeasure

This paper treats the kinematic control of manipulators with redundant degrees of freedom. We derive an analytical solution for the inverse kinematics that provides a means for accommodating joint velocity constraints in real time. We define the motion optimizability measure and use it to develop an efficient method for the optimization of joint trajectories subject to multiple criteria. An implementation of the method for a 7-dof experimental redundant robot is present.     

光杆落物打捞器的研制与应用

光杆落物打捞器是一种新型打捞工具，主要用于打捞重量较轻的细长光杆式井下落物（如测斜仪器，测井仪器等），详细介绍了该工具的结构，工作原理及使用注意事项，在两口井的成功应用表明，该工具能有效地捞获井下落鱼，具有很好的经济效益和社会效益。     

多足爬壁机器人步态规划和运动仿真

在多足机器人地面行走步态规划理论的基础上，就多足机器人爬壁运动的两个重要方面进行了较为系统深入的探讨，并取得一些重要的研究进展。     

机器人机构的精度优化设计

本文应用最优化技术,确定能满足机器人绝对精度要求的,并使制造成本最低的连杆参数的最优公差值.建立了机器人机构精度优化设计的数模,并针对一个带闭链的五自由度机器人,在不同精度指标,不同概率水平以及不同原始误差分布下,进行了连杆参数公差的优化计算。     

A closed-form linear multi-step algorithm for the steady-state response of high-speed flexible mechanismsEin schlie ungsformiger linearer mehrschrittalgorithmus zur bestimmung stationarer erzwungener schwingungen von schnell-aufenden elastischen mechanismen

Based on the general form of linear multi-step methods, a closed-form algorithm for the steady-state solution of periodically time-dependent vibrating systems—high-speed flexible mechanisms with uniform rotation input can be taken as a special case—is developed. The algorithm is tested by three examples and verified by comparing the computational responses with the previously published experimental results. Besides, the computational results also show that this algorithm, compared with Fourier series method, is of higher accuracy and far higher computational efficiency.     

一种新的改善机器人动态精度的方法

从机器人关节反馈控制系统模型出发,本文提出了一种利用补偿指令轨迹来改善机器人动态精度的方法,并指出了这一方法实施的全过程.利用这一方法对机器人实施控制,不仅可以从根本上克服由于重力负载和杆件离心效应等因素的干扰给控制系统带来的动态精度问题,而且还可消除由于反馈控制系统本身的固有特性所决定的系统的动态跟踪误差.通过在 PUMA560上的数值研究,证明了本文理论方法的正确性.     

A closed-form linear multi-step algorithm for the steady-state response of high-speed flexible mechanisms

Based on the general form of linear multi-step methods, a closed-form algorithm for the steady-state solution of periodically time-dependent vibrating systems—high-speed flexible mechanisms with uniform rotation input can be taken as a special case—is developed. The algorithm is tested by three examples and verified by comparing the computational responses with the previously published experimental results. Besides, the computational results also show that this algorithm, compared with Fourier series method, is of higher accuracy and far higher computational efficiency.     

Erratum to: Effects of redox-active interlayer anions on the oxygen evolution reactivity of NiFe-layered double hydroxide nanosheets

Nano Research - The labels in Fig. 8 in the original version of this article were unfortunately misplaced. The corrected figure is as follow.     

套筒活齿的应力数学模型及其计算方法

利用通过有限元方法计算的各种典型工况下的套简活齿内部应力，根据套筒活齿的几何和受力特点以及非线性回归方法，对多点受力套筒活齿的应力分析问题建立了应力计算的经验公式，从而解决了套筒活齿在几何尺寸不同、受力大小不同、力作用的位置不同以及受力个数不同时的应力分析问题。     

基于PSO-BFA和改进Alexnet的滚动轴承故障诊断方法

现实中滚动轴承的工况复杂易变,无法有效地对其进行故障诊断。对此,提出一种基于粒子群优化的细菌觅食(Particle Swarm Optimization and Bacterial Foraging Algorithm,PSO-BFA)和改进Alexnet(第二代卷积神经网络)的滚动轴承故障诊断方法。该方法将Alexnet的结构简化,并分别在其前两层池化层之后添置局部归一化层以降低训练成本;将以小批量样本softmax的交叉熵为损失函数,按Adam迭代优化法小样本、少迭代次数训练改进Alexnet后的变负荷样本诊断精度设计为适应度函数,并结合PSO中粒子移动速度的更新方法更新BFA中细菌的游动方向来寻找改进Alexnet的结构等相关参数;根据PSO-BFA所得的参数,以相同的训练方法大样本、多迭代次数训练改进Alexnet,实现复杂工况下滚动轴承多状态故障诊断。实验结果表明所提出的方法对复杂工况下滚动轴承16种故障状态的诊断是可行的,且有更高的诊断精度、更好的抗干扰和泛化性能。