Path curvature of a geared seven-bar mechanism

This paper presents a graphical technique to locate the center of curvature of the path traced by a coupler point of a planar, single-degree-of-freedom, geared seven-bar mechanism. Since this is an indeterminate mechanism then the pole for the instantaneous motion of the coupler link; i.e., the point coincident with the instantaneous center of zero velocity for this link, cannot be obtained from the Aronhold–Kennedy theorem. The graphical technique that is presented in the first part of the paper to locate the pole is believed to be an important contribution to the kinematics literature. The paper then focuses on the graphical technique to locate the center of curvature of the path traced by an arbitrary coupler point. The technique begins with replacing the seven-bar mechanism by a constrained five-bar linkage whose links are kinematically equivalent to the second-order properties of motion. Then three kinematic inversions are investigated and a four-bar linkage is obtained from each inversion. The motion of the coupler link of the final four-bar linkage is equivalent up to and including the second-order properties of motion of the coupler of the geared seven-bar. Then the center of curvature of the path traced by an arbitrary coupler point can be obtained from existing techniques, such as the Euler–Savary equation. An analytical method, referred to as the method of kinematic coefficients, is presented as an independent check of the graphical technique.     

平面五杆机构连架杆转角空间分析

根据杆长之间的关系 ,把五杆机构分为三种类型 ,指出每种类型的两连架杆在转动过程各自所能转动的角度范围 ,给出求解平面五杆机构连架杆转角空间的数值算法。     

基于MBS的剪式座椅垂向刚度特性比较分析

采用多体系统(MBS)动力学分析软件ProMECHANICA/Motion建立了剪式座椅悬架的仿真模型。基于此模型,比较了6种典型弹簧布置方式下的座椅垂向刚度特性,分析了2种典型弹簧布置方式下连接点位置变化对座椅垂向刚度特性的影响。仿真结果表明,多数弹簧布置方式下的剪式座椅垂向刚度具有明显的非线性特性,且其非线性特性在工作行程内表现为软特性,软特性的强弱程度随弹簧布置方式的不同而不同,弹簧倾斜布置于两剪杆之间或剪杆与座椅底板之间时,座椅垂向刚度软特性的强弱随弹簧连接点位置的变化而变化。     

利用连杆转角曲线进行平面连杆机构轨迹综合的研究

提出并解决了利用连杆转角曲线β（）进行平面连杆机构轨迹综合的计算机方法。在解决了由给定封闭轨迹向连杆转角曲线转化的关键技术和方法的基础上，用该方法建立了一系列已知四杆机构的连杆转角曲线数据库，从而可以在已建立的数据库中寻求出能够实现给定轨迹的四杆机构，达到近似实现轨迹曲线“无穷多点”的“精确”机构综合。     

Age‐Related Physiological Responses to Working in Deep Cold

Professional order‐picking in deep cold‐storage depots (i.e., storing, picking, and dispatching of frozen groceries) requires employees to remain working at temperatures of approximately ?24°C for a whole workday. Actually, a well‐regulated organization of working times and breaks has not been established, and no competent knowledge exists as to whether an additional age‐differentiated organization is necessary. To assess the physiological effects while working in deep cold, 30 male subjects (Ss) were classified into two age groups (20‐ to 35‐year‐olds and 40‐ to 65‐year‐olds). In whole workday tests, possible age‐dependent effects on the strain were measured to guarantee the preservation of the subjects' ability to work in the long run. For the objectification of the physiological strain, heart rate and skin surface temperature were registered continuously, and blood pressure and body core temperature were measured and recorded discretely during cold exposures of 80, 100, and 120 min, separated by 20‐min warming‐up breaks. Systematic differences of blood pressure could not be found. The heart rate values indicated a high physiological strain for both younger and older Ss, with work‐related increases above the resting level of 30 bpm and more. Due to increases over time, endurance level sometimes was exceeded. Age‐related differences in skin temperature could not be recorded, but the ability to generate heat deteriorated with advancing age, which is shown by more substantial decreases of body core temperature in the group of 40‐ to 65‐year‐olds taken at the tympanum. Regarding physiological strain brought about by maximum heart rate decreasing with age and declined heat generation, correspondingly adapted workday break regimes have to be provided for older employees to ensure their ability to work in the long run. © 2011 Wiley Periodicals, Inc.     

Synthesis and photophysical properties of host materials with high triplet energy based on dibenzofuran and triphenylamine functionalities

A host material with high triplet energy based on dibenzofuran and triphenylamine interconnected through diphenylmethylene linkage was synthesized and photophysical properties of the host material were investigated. A high triplet energy of 2.90 eV was obtained due to complete separation of an electron donating triphenylamine and accepting dibenzofuran by diphenylmethylene linkage. It was found out that intermolecular charge transfer dominated the light emission of the host material.     

轧机生产线CO_2灭火控制系统的设计与施工

针对轧机生产线的火灾特点论述了灭火装置类型的选择和控制系统的设计特点,并论述了火灾自动控制系统的控制机理和控制方式。该系统对有色加工企业轧机生产线自动灭火控制系统的设计施工具有实际指导意义。     

Human interaction with robotic systems: performance and workload evaluations

Abstract

We first tested the effect of differing tactile informational forms (i.e. directional cues vs. static cues vs. dynamic cues) on objective performance and perceived workload in a collaborative human–robot task. A second experiment evaluated the influence of task load and informational message type (i.e. single words vs. grouped phrases) on that same collaborative task. In both experiments, the relationship of personal characteristics (attentional control and spatial ability) to performance and workload was also measured. In addition to objective performance and self-report of cognitive load, we evaluated different physiological responses in each experiment. Results showed a performance–workload association for directional cues, message type and task load. EEG measures however, proved generally insensitive to such task load manipulations. Where significant EEG effects were observed, right hemisphere amplitude differences predominated, although unexpectedly these latter relationships were negative. Although EEG measures were partially associated with performance, they appear to possess limited utility as measures of workload in association with tactile displays.

Practitioner Summary: As practitioners look to take advantage of innovative tactile displays in complex operational realms like human–robotic interaction, associated performance effects are mediated by cognitive workload. Despite some patterns of association, reliable reflections of operator state can be difficult to discern and employ as the number, complexity and sophistication of these respective measures themselves increase.     

基于线性输入输出关系的空间连杆机构设计

通过对机构设计要求和初始条件的分析,提出两种典型的设计方案,一种是RSSR机构,另一种是双RSSR机构。以CATIA为平台,按自顶向下的设计思路,进行空间连杆机构的结构设计,并在CATIA运动模拟机构中进行运动模拟,比较了两种方案的运动传递特性。分析指出,在输入角度较小的情况下,两种机构的输入量与输出量之间均能保持良好的线性关系;适当选择构件尺寸,双RSSR机构能基本保持输出与输入相等。而RSSR机构能否保持输出与输入相等主要受到初始条件的限制。