Parallel Mechanisms with Two or Three Degrees of Freedom

Parallel manipulators for the machine tool industry have been studied extensively for various industrial applications. However, limited useful workspace areas, the poor mobility, and design difficulties of more complex parallel manipulators have led to more interest in parallel manipulators with less than six degrees of freedom (DoFs). Several parallel mechanisms with various numbers and types of degrees of freedom are described in this paper, which can be used in parallel kinematics machines, motion simulators, and industrial robots.     

H6M4(N2H2)3(M=Al,Ga)簇合物的结构、红外光谱和热力学性质研究

采用自洽场方法(HF)和密度泛函(DFT)的B3LYP方法，在6-31G^*水平下，研究了H6M4(N2H2)3(a—M＝Al，b—M＝Ga)簇合物的几何构型、电子结构、红外光谱及热力学性质．结果表明：N—N键比肼中N—N键长，有进一步裂解的趋势．振动频率计算表明：铝、镓的肼簇合物为基态稳定结构．     

C60Ni(PPh3)2配合物的合成和性质研究

采用配体取代法合成出C60Ni(PPh3)2，利用元素分析、红外光谱、光电子能谱对产物进行表征，研究了产物的热稳定性和氯化还原性能。     

电解负载法制备Pt/Al2O3/Al催化剂

以铝板阳极氧化生成的多孔质氧化膜为载体,采用电解负载法将铂负载在载体上,制得挥发性有机物催化燃烧的催化剂.从催化剂的负载量和催化活性出发,对电解负载的实验条件进行了探讨.研究结果表明,低浓度、低电流密度及较短的电解负载时间是较适宜的催化剂制备条件.实验还表明,利用电解负载法负载的催化组分在催化剂中分布均匀.     

M_2Cl_4(PH_3)_4(M=Cr、Mo、W)分子的DFT计算

采用密度泛函理论(DFT)研究M_2Cl_4(PH_3)_4(M=Cr、Mo、W)分子,在D_(2d)对称约束下进行结构优化和能量解析,三种化合物的M—M键长分别是C—Cr1.737A,Mo—Mo2.157A,W—W2.286A.能量解析表明:E_(Cr—Cr)相似文献   

Intelligent Integrated Control of Underactuated Mechanical Systems with Second-order Nonholonomic Constraints

This paper describes an intelligent integrated control of an acrobot, which is an underactuated mechanical system with second-order nonholonomic constraints. The control combines a model-free fuzzy control, a fuzzy sliding-mode control and a modelbased fuzzy control. The model-free fuzzy controller designed for the upswing ensures that the energy of the acrobot increases with each swing. Then the fuzzy sliding-mode controller is employed to control the movement that the acrobot enters the balance area from the swing-up area. The model-based fuzzy controller, which is based on a Takagi-Sugeno fuzzy model, is used to balance the acrobot. The stability of the fuzzy control system for balance control is guaranteed by a common symmetric positive matrix, which satisfies linear matrix inequalities.     

在硅基材料上用Sol-gel法制备涂层测定氧扩散系数研究

提出一种测定氧扩散系数新方法。用Sol-gel法制备了Y2O3/SiO2均匀致密的薄膜,能成功解决其它方法无法得到的冶炼所得到的熔体,光学椭偏测定氧化层的膜厚。探讨了氧在薄膜中的扩散,在Wagner理论基础上,用数学方法表达在掺杂SiO2薄膜氧扩散系数与氧化层膜厚的关系。     

在硅基材料上用Sol-gel法制备涂层测定氧扩散系数研究

提出一种测定氧扩散系数新方法.用Sol-gel法制备了Y2O3/SiO2均匀致密的薄膜,能成功解决其它方法无法得到的冶炼所得到的熔体,光学椭偏测定氧化层的膜厚.探讨了氧在薄膜中的扩散,在Wagner理论基础上,用数学方法表达在掺杂SiO2薄膜氧扩散系数与氧化层膜厚的关系.     

数值相对论简介(Ⅰ)--爱因斯坦方程

对数值相对论中涉及的一些典型的算法进行了简单的介绍.在广义相对论中,引力场是由一组极其复杂的、相互耦合的、非线性的双曲或椭圆偏微分方程决定的.由于大规模并行计算机的运行速度和存储容量的飞速发展,在爱因斯坦场方程写出80多年以后终于有可能对在天体物理中十分令人关注的现象如黑洞或中子星的碰撞问题等,进行广义相对论性的三维模拟,进而诞生了数值相对论.     

Mn∶Fe∶LiNbO3晶体两波耦合温度特性实验研究

本文对 30℃至 1 2 0℃温度范围内的光折变晶体Mn∶Fe∶LiNbO3的前向双光束耦合的温度特性进行了实验研究 .发现在 5 0℃、70℃和 1 0 5℃附近出现异常峰值 .