Dynamic surface control-backstepping based impedance control for 5-DOF flexible joint robots

A new impedance controller based on the dynamic surface control-backstepping technique to actualize the anticipant dynamic relationship between the motion of end-effector and the external torques was presented. Comparing with the traditional backstepping method that has “explosion of terms” problem, the new proposed control system is a combination of the dynamic surface control technique and the backstepping. The dynamic surface control (DSC) technique can resolve the “explosion of terms” problem that is caused by differential coefficient calculation in the model, and the problem can bring a complexity that will cause the backstepping method hardly to be applied to the practical application, especially to the multi-joint robot. Finally, the validity of the method was proved in the laboratory environment that was set up on the 5-DOF (degree of freedom) flexible joint robot. Tracking errors of DSC-backstepping impedance control that were 2.0 and 1.5 mm are better than those of backstepping impedance control which were 3.5 and 2.5 mm in directions X, Y in free space, respectively. And the anticipant Cartesian impedance behavior and compliant behavior were achieved successfully as depicted theoretically.     

Numerical simulation on bolted rock joint shearing performance

A Double Shear Model(DSM)was used in a numerical simulation on bolted rock joint shearing performance.An entire bolt deformed as the letter"U"under a shear load between two joints.Near the bolt-joint intersection,the bolt partly deformed as the letter"Z".There were two critical points along the bolt: one was at the bolt-joint intersection with zero bending moment and the other at the maximum bending moment(plastic hinge)with zero shear stress.The blocks on two sides slid along the bolt as it deformed.A separation area was found between the two joint contact surfaces of the middle rock block and sided block.This area of separation was related to bolt diameter and external forces.We assume that this area is related to the work of external forces.Further research is needed.     

型钢翼缘狗骨式削弱在型钢混凝土节点的作用

为了防止地震时型钢混凝土节点核心区发生剪切破坏以及梁柱连接焊缝发生脆性断裂,提出对型钢混凝土节点核心区附近梁端型钢的上、下翼缘采取狗骨式削弱,并系统研究翼缘削弱对提高型钢混凝土节点抗震性能的作用.研究表明,由于在梁端型钢翼缘采取狗骨式削弱,不仅能够将塑性铰控制在梁型钢削弱的位置,从而有效地降低了节点核心区所受的剪力以及梁柱连接焊缝的应力;而且能够改善节点塑性铰区的转动能力和抗剪性能,提高节点的延性和耗能能力.     

彩钢岩棉夹芯屋面板、墙面板节点性能研究

为了掌握彩钢岩棉夹芯屋面板、墙面板与檩条的螺钉连接节点抗拉破坏机理,采用理论分析、试验验证及有限元模拟相结合的方法研究了不同钢板厚度及芯材厚度时节点破坏情况.分析结果表明:屋面板节点连接破坏是由于钢板局部屈曲引起的,墙面板则是钢板被冲剪破坏造成的,同时,结合对有限元模拟结果的回归,提出了节点承载力设计公式,可为以后节点设计提供参考.增加岩棉刚度及其与侧向钢板的粘结,或增加钢板厚度对提高屋面板节点极限承载力起着重要作用.     

方钢管混凝土柱-钢梁节点研究综述

方钢管混凝土柱--钢梁节点的结构性能直接影响钢管混凝土结构在建筑工程中推广和应用.为使设计人员对方钢管混凝土柱--钢梁节点有一个较为全面的了解,该文综合国内外相关资料,按刚接、半刚接、铰接三种节点类型,分别介绍目前常用节点的构造型式和受力特点,并简要介绍该节点研究现状.最后,对方钢管混凝土柱--钢梁节点的进一步研究工作做了探讨.     

Analysis of Human Joint Forces in Standing Posture

Using the software Anybody Modeling System, a human static-standing musculoskel etal model based on inverse dynamics is presented, which are defined as segm ents, muscles and joints as elements. Simulation is based on data obtained from experiments using motion capture system VICON and force plate AMTI. In the model AnyBody Modeling System is introduced to help solve the redundancy problem and obtain results of muscle activities, muscle forces and joint forces. From the mo del, hip and knee joint forces cou...     

常州会展中心与训练馆钢管桁架屋盖结构设计

以常州体育会展中心的会展中心与训练馆为例,介绍了钢屋盖的结构设计过程,并对屋盖结构选型、屋盖体系布置、屋盖计算分析、节点设计等方面进行了详细的阐述。     

关于信息量的两个新的不等式

在文献[1]的基础上,建立关于互信息和联合熵的新的不等式,并且对它们给予证明。     

大企口缝单孔空心板桥截面等效方法研究

采用不扣除企口缝部分的近似计算方法和扣除企口缝的精确计算方法对大企口缝单孔空心板截面等效方法进行研究,得出近似等效计算方法的误差远远大于5%,不能满足工程需要,故在等效计算中,企口缝不能忽略,需使用面积等效、惯性矩等效、形心轴位置不变等3个原则方可求得其精确解.研究结论可为工程设计人员处理同类问题提供参考.     

Moodle在中澳合作办学项目中的应用

Moodle以其经济性和易用性等特点,已在教育领域中得到广泛应用。浙江科技学院在中澳合作办学项目中,基于Moodle的网络教学平台成了联系中澳双方的纽带,为双方教师及学生参与各种教学活动提供了有效的途径。在分析了Moodle课程管理系统的特点和主要功能模块之后,介绍了Moodle在项目中的实际应用情况,指出了在使用这个教学平台过程中存在的不足。