Preparation and application of polybenzoxazine adsorption resin

The synthesis and application of polybenzoxazine adsorption resin was studied. First, the precursor was synthesized by the solventless method. And then a kind of spherical and granular polybenzoxazine resin was obtained using reverse‐phase suspension polymerization technique in the process of solidification. Besides, the influence of dispersion medium, the volume ratio of precursor to medium, the solidification temperature, and the agitation speed were studied in detail in the process of polymerization. Second, the spherical shape of the polybenzoxazine resin was identified by scanning electronic microscope and the thermal stability of resin was measured by thermogravimetric analysis. Finally, the adsorption capacity of the spherical resin on pyridine was studied in cyclohexane systems. The correlation coefficient of Langmuir adsorption constant temperature line was bigger than 0.99, which indicated that the equilibrium sorption date was coincident with the Langmuir isotherm equation. And the saturated adsorptive capacity of dried resin achieved 222.2 mg g^?1. © 2007 Wiley Periodicals, Inc. J Appl Polym Sci, 2007     

基于MATLAB的模块化机器人手臂运动学算法验证及运动仿真

针对由模块化关节构成的六自由度串联机器人手臂, 采用DH法对手臂的操作空间进行了描述, 得到了正运动学模型; 采用欧拉角表示手臂姿态, 得到了包含六个参数的用于表示手臂位姿的完备广义坐标, 并对欧拉角的几何关系进行了分析。针对SolidWorks虽然实体建模简洁方便但计算并非其强项的缺点, 编写相应接口程序, 将建立的手臂三维实体模型保留几何约束关系简化后导入MATLAB软件。基于MATLAB编写正逆运动学算法验证程序以及连杆驱动程序, 实现了手臂的仿真运动。通过仿真, 不仅更进一步验证了手臂正逆运动学解算的正确性, 而且非常直观地看出手臂末端在空间中运行的路径以及各关节的动作情况。机器人手臂正逆运动学算法正确性的验证及运动仿真为手臂的精确定位及其路径规划提供了必要的保证。     

Synthesis of syndiotacticity‐rich high molecular weight poly(vinyl alcohol) by suspension polymerization of vinyl pivalate and saponification

Vinyl pivalate (VPi) was suspension‐polymerized to synthesize high molecular weight (HMW) poly(vinyl pivalate) (PVPi) with a high conversion above 95% for a precursor of syndiotacticity‐rich HMW poly(vinyl alcohol) (PVA). Also, the effects of the polymerization conditions on the conversion, molecular weight, and degree of branching (DB) of PVPi and PVA prepared by the saponification of PVPi were investigated. Bulk polymerization was slightly superior to suspension polymerization in increasing the molecular weight of PVA. On the other hand, the latter was absolutely superior to the former in increasing the conversion of the polymer, indicating that the suspension polymerization rate of VPi was faster than that of the bulk one. These effects could be explained by a kinetic order of a 2,2′‐azobis(2,4‐dimethylvaleronitrile) concentration calculated by the initial rate method. Suspension polymerization of VPi at 55°C by controlling various polymerization factors proved to be successful in preparing PVA of HMW [number‐average degree of polymerization (P_n): 8200–10,500], high syndiotactic diad content (58%), and very high yield (ultimate conversion of VPi into PVPi: 94–98%). In the case of the bulk polymerization of VPi at the same conditions, the maximum P_n and conversion of 10,700–11,800 and 32–43% were obtained, respectively. The DB was lower and the P_n was higher with PVA prepared from PVPi polymerized at lower initiator concentrations. © 2003 Wiley Periodicals, Inc. J Appl Polym Sci 88: 832–839, 2003     

室式分离机转鼓结构的改进与液流分析

介绍了室式分离机的转鼓结构及工作过程．为提高这种机器的分离效率,重点对室式分离机的转鼓结构做了改进．通过对室式分离机改进型转鼓中悬浮液的流动速度进行分析,为实现不停机自动排渣提供理论基础．     

智能轮椅上的机械手运动学分析及轨迹规划*

装备了机械手臂的智能轮椅在助老、助残、辅助康复等方面都有重要的研究价值。对装备于智能轮椅的四自由度机械手臂运动学分析以及轨迹规划进行了研究,为机械手臂自主抓取建立了数学模型和理论依据,运用D-H法建立了机器人的运动学方程。提出了基于目标函数的最小功率法,在逆解存在多组解的情况下,选取节约能量的一组解,从而节约了能量。通过仿真实验验证了算法的有效性,为以后的轨迹优化、无碰撞轨迹规划建立基础。     

汽车悬架最优控制与半主动控制研究

基于1/4汽车悬架为控制对象,建立了汽车悬架动力学模型.以线性二次型最优（LQG）控制和改进后的半主动开关（on-off）控制为控制策略,在MATLAB/Simulink软件平台上进行仿真.与被动悬架比较,采用正弦激励下的频域分析和随机路面激励下的时域分析,证明了LQG控制和半主动开关控制在汽车控制工程中的可行性.     

悬挂式重力补偿系统精密跟踪方法

介绍了一种用于研究空间机器人微重力条件下的工作特性的悬挂系统——悬挂式重力补偿系统,并给出了悬挂模块的动力学模型.通过数值求解与仿真,运用非线性规化求出了一定条件下的最优控制参数;用正交试验寻优、基于时间最优控制的试凑法证明了优化模型的解正确性.该研究为空间机器人地面试验系统模拟微重力环境下精密跟踪运动提供了最优控制方法.     

预张力悬索桥及其静力学性能分析

为从理论上获得预张力悬索桥的力学特性,利用大位移不完全广义势能变分原理,建立了预张力悬索桥的一般基础微分方程.在进一步引入假设条件下,导出了基于古典挠度理论的平衡微分方程.通过对微分方程的解析,讨论了预张力悬索桥的静力学特性及其与普通悬索桥的区别.结合算例悬索桥的数值分析表明,预张力悬索桥由于抗风索的存在,以及结构中建立的预张力,在提高结构刚度、减小加劲梁弯矩等方面具有一定的优越性.     

冗余度机器人扩展雅克比方法的应用研究

采用基于所提出的连续比例因子的梯度投影法,利用模糊推理规则动态求解了多性能指标融合中的权系数,对卫星在轨自维护系统的冗余度机器人推拉帆板作业进行了数值仿真计算。所得到的结果与采用固定比例因子的梯度投影法进行了比较,指出了采用固定比例因子方法的不足之处。实验结果验证了所提出的连续比例因子方法的可行性,为冗余自由度机器人的逆运动学解法提供了新思路。     

MOTOMAN-HP3型机器人运动学建模

根据MOTOMAN-HP3型机器人具体结构特点,建立机器人的运动学模型,求出正逆解.并在机器人运动学建模过程中,对关节运动范围的转换规律进行了研究.为机器人运动分析、离线编程、轨迹规划等打下了基础.