Static Force-Based Modeling and Parameter Estimation for a Deformable Link Composed of Passive Spherical Joints With Preload Forces

To balance the contradiction between higher flexibility and heavier load bearing capacity, we present a novel deformable manipulator which is composed of active rigid joints and deformable links. The deformable link is composed of passive spherical joints with preload forces between socket-ball surfaces. To estimate the load bearing capacity of a deformable link, we present a static force-based model of spherical joint with preload force and analyze the static force propagation in the deformable link. This yields an important result that the load bearing capacity of a spherical joint only depends on its radius, preload force, and static friction coefficient. We further develop a parameter estimation method to estimate the product of preload force and static friction coefficient. The experimental results validate our model. 80.4% of percentage errors on the maximum payload mass prediction are below 15%.      

球形活性炭的制备及其对苯并噻吩的吸附研究

以122型弱酸性酚醛系阳离子交换树脂为炭前驱体,经过炭化和CO2活化,制备球形活性炭(SAC).利用热重分析、扫描电镜、红外光谱和低温N2吸附对材料进行表征.结果表明:制得的球形活性炭比表面积达到799.567 m2/g,孔容为0.969 cm3/g,对苯并噻吩的吸附硫容达到10.3mg/g.用Freundlich和Langmuir模型对吸附平衡数据进行拟合发现:球形活性炭对苯并噻吩的吸附更符合Freundlich模型,表明球形活性炭的吸附活性位不均匀分布;分别用准一级(PFO)、准二级(PSO)、修正的准n级(MPnO)和混阶(MOE)四种动力学速率方程对吸附动力学数据进行拟合,MPnO最适合描述球形活性炭吸附苯并噻吩的动力学过程.     

基于MEGI模型的三维人脸识别方法*

三维人脸识别是未来人脸识别的方向,有望解决二维人脸识别的瓶颈问题。基于MEGI模型,扩展了球面相关性系数,将其用于三维人脸识别。实验证明,基于MEGI模型的方法可以用于三维人脸识别。     

Self-assembly of telechelic polymers bearing adamantane groups via host-guest inclusion complexes with cyclodextrin polymer

Self-assembly and supramolecular inclusion complexations between telechelic polymers bearing one or double adamantane groups and linear poly(β-cyclodextrin) (P(β-CD)) were investigated in water. An adamantane (Ada) attached to poly (acrylic acid) (PAA) was prepared by reversible addition-fragmentation chain transfer polymerization using s-1-dodecyl-s″ -(α,α′-dimethyl-α″-acetic acid) trithio-carbonate functionalized Ada with tert-butyl acrylate, followed by functional modification. Additionally, two Ada groups capped triblock copolymer F127 were obtained via an esterification reaction. The dynamic light scattering, transmission electron microscope and ¹H 2D NOSEY NMR spectroscopy were conducted to characterize the self-assembly behaviors. With the inclusion complexation of Ada/CD in 1:1 M ratio in water, the spherical micelles were enlarged at 25°C than that of the adamantyl polymer precursors. Due to the PPO segment of Ada-F127-Ada, the micelles aggregation showed temperature dependence from 4 to 37°C for precursor and corresponding inclusion complexation; while in Ada-PAA/P(β-CD) system, the hydrodynamic diameters decreased with pH decreasing.     

感应式球形电机结构设计与参数分析

针对目前多自由度电机结构复杂,控制难度高的问题,提出一种新型多自由度球形感应电机。该电机由三个空间对称分布的弧面定子驱动球形转子实现多自由度运行。首先,介绍了电机的基本结构和运行原理并对根据直线感应电机的设计理对电机主要参数进行计算;然后,建立Ansoft/Maxwell有限元仿真模型对电机进行稳态磁场仿真;同时对电机在不同转子参数以及不同激励时的稳态运行特性进行分析,为这类电机的优化设计与运动控制提供依据。结果表明:在额定激励下,感应式球形电机单个定子可产生1N·m的稳态转矩,稳定转速可达350r/min,满足多自由度运行要求。     

环面槽球笼式同步万向联轴器共轭曲面原理

采用共轭曲面原理对应用广泛的环面槽球笼同步万向联轴器,进行了分析;建立了球笼万向轴器实现同步运动时,各接触面的运动关系、曲面方程以及共轭运动关系,推导出了球笼万向联轴器瞬时同步的必要充分条件为两对啮合付的偏心值ε1T=ε1的结论.     

碳酸钴制备超细球形钴粉的工艺探讨

采用钢带式连续还原炉,以碳酸钴为原料,用氢气还原法制备钴粉。研究了还原温度和时间对钴粉粒度、碳氧含量等性能的影响。研究发现:升高温度或延长还原时间,钴粉的粒度增大,氧含量降低,而碳含量变化很小。在420～460℃下,还原2.5～3.0h,可制备Fsss为0.9μm,以面心立方结构为主的高纯钴粉。与传统方法相比,碳酸钴制备的钴粉呈球形或类球形,而非树枝状,是生产超细硬质合金的理想原料。     

锌粉颗粒形状对机械沉积无结晶镀层结构的影响

以球状锌粉和片状锌粉为原始锌粉借助于机械镀工艺制备了无结晶锌防护层，运用光学显微镜（OM）、扫描电子显微镜（SEM）观察了镀层的结构形貌；采用XRD技术分析了镀层的物相组成；采用贴滤纸法进行了镀层的孔隙率测试。研究结果表明，片状锌粉制备的镀层比球状锌粉制备的镀层表面要平滑、光亮。球状锌粉制备的镀层中锌粉颗粒呈紧密堆积，部分锌粉颗粒发生塑性变形；片状锌粉制备的镀层中的锌粉颗粒呈层片状叠加，镀层中锌粉颗粒没有发生明显塑性变形。两种形状锌粉制备的镀层均为锌基多相混合体系，镀层中没有固溶体、化合物等合金相产生，属于锌基复合镀层。锌粉颗粒形状对镀层中颗粒之间的结合机理没有显著影响，两种镀层中锌粉颗粒间均以机械咬合为主。     

咪唑啉表面活性剂的合成及用于制备ZnSe纳米材料

合成了两种咪唑啉型双子表面活性剂二（2-十一（十七）烷基-1-甲酰胺乙基咪唑啉）己二胺季铵盐（SUAEIHDI、SHAEIHDI），并进行了红外表征；然后以Zn（Ac）2-2H20为锌源，硒粉为硒源，水合肼为还原剂，SUAEIHDI为表面修饰剂，采用水热法于150℃反应24h，制得球形ZnSe纳米材料，用TEM、SEM、IR、UV-vis和XRD等手段对ZnSe纳米材料进行了表征，并对球形ZnSe的形成机理进行了初步探讨。结果表明：该咪唑啉型双子表面活性剂对于纳米材料具有良好的形貌控制作用和表面修饰作用。     

Plasma alloying and spheroidization process and development

Elemental and blended refractory metal powders were processed using a plasma alloying and spheroidization (PAS) process. The powders were characterized to determine changes in chemistry and morphology after processing. Five refractory metal powders were evaluated during this investigation: (1) crystalline W, (2) spray dried Mo, (3) W-25 wt.% Re composite powder, (4) W-2 wt.% Re composite powder, and (5) Mo-40 wt.% Re composite powder. Benefits of the PAS process, such as a two-order of magnitude reduction in oxygen contamination, production of highly spherical powders for enhanced flow characteristics, and the ability to produce prealloyed powders were demonstrated. This paper was presented at the 2nd International Surface Engineering Congress sponsored by ASM International, on September 15–17, 2003, in Indianapolis, Indiana, and appears on pp. 441–47 of the Proceedings.