One kind of movable-pair analysis method is adopted to analyze the configuration of a 3-7R （revolute-pair） parallel decoupling mechanism, and the mechanism＇s characteristics are summarized. The mechanism has three ...One kind of movable-pair analysis method is adopted to analyze the configuration of a 3-7R （revolute-pair） parallel decoupling mechanism, and the mechanism＇s characteristics are summarized. The mechanism has three orthogonal distributional branch-chains, and all movable pairs are rotational joints. The movable platform of the mechanism has x, y, z translational decoupling directions. Furthermore, in order to verify the mechanism＇s decoupling characteristics, the mechanism＇s kinematics analysis is solved, and the mechanism＇s direct/inverse kinematics model, input/output velocities and accelerations are deduced, which confirm its decoupling movement characteristics. Finally, one kind of mechanism link decomposed-integrated approach is adopted, and the mechanism＇s dynamics model is completed with the Lagrange method, which also proves its decoupling force characteristics. All of these works provide significant theory for the further study of the mechanism＇s control strategy, design, path planning etc.展开更多
How to solve the coupling relations in a 6 - DOF parallel robot quickly and accurately within the limits of realtime control is a critical problem. In traditional analytic method, the complicated mathemtical model mus...How to solve the coupling relations in a 6 - DOF parallel robot quickly and accurately within the limits of realtime control is a critical problem. In traditional analytic method, the complicated mathemtical model must first be constructed and then solved by programming.Obviously, this method is not very practical. This paper,therefore, proposes a new way of approach with a new method using 3- D animation for the solving of coupling relations in the 6 - DOF parallel robot. This method is much simpler and its solving accuracy approaches that of the more complicated analytic method.展开更多
This research investigated the outputting circulation current inhibition characteristic which are controlled by the instantaneous feedback voltage in inverter parallel driving of the mine hoist. We established a trans...This research investigated the outputting circulation current inhibition characteristic which are controlled by the instantaneous feedback voltage in inverter parallel driving of the mine hoist. We established a transfer function of the parallel inverters controlled by the close-loop adjustment of instantaneous voltage feedback. The influence of the parameters of the close-loop feedback circuit to the inhibition effects to the outputting circulation current is observed. After analyzing the circulating current inhibition characteristics, the proportion integration （PI） controller is introduced into the close-loop adjustment by instantaneous voltage feedback. The characteristics equation is gained to determine the PI parameters by drawing the Bode plots. The inhibition effects of the proposed controller are examined by the established simulation model of parallel inverter system. The harmonic distortion rate at the outputting voltage frequency value of 4, 10, 20, 41 and 50 Hz, are all lower than 2.32 % by the instantaneous outputting voltage feedback.展开更多
The variation of tensile strength parallel to grain in Chinese fir and 1-214 poplar wood from plantations was studied in this paper. Aaccording to the national standards The Testing Methods for Physical and Mechanical...The variation of tensile strength parallel to grain in Chinese fir and 1-214 poplar wood from plantations was studied in this paper. Aaccording to the national standards The Testing Methods for Physical and Mechanical Properties of Wood （GB 1927 to 1943 -- 1991）, the small clear wood samples were cut and tested, which represent the south and north of trees with heights of 1.3, 3.3, 5.3 and 7.3 m. The results showed： the tensile strength parallel to grain of the north wood was higher than that of south wood. ANOVA shows that the tensile strength parallel to the grain with height is of significant difference （at 0.05 level）.展开更多
Recent years witness an increased awareness of the value of both metrics data collection and measurement method standardization to software organizations. This trend is coupled with the commitment of both researchers ...Recent years witness an increased awareness of the value of both metrics data collection and measurement method standardization to software organizations. This trend is coupled with the commitment of both researchers and practitioners to adapt existing measurement methods to new technology projects. For example, the creation of large empirical databases of software projects, such as the ISBSG （International Software Benchmarking Standards Group）, of new functional size measurement standards such as COSMIC Full Function Points （FFP）,展开更多
基金The National High Technology Research and Development Program of China(863Program)(No.2006AA040202)
文摘One kind of movable-pair analysis method is adopted to analyze the configuration of a 3-7R （revolute-pair） parallel decoupling mechanism, and the mechanism＇s characteristics are summarized. The mechanism has three orthogonal distributional branch-chains, and all movable pairs are rotational joints. The movable platform of the mechanism has x, y, z translational decoupling directions. Furthermore, in order to verify the mechanism＇s decoupling characteristics, the mechanism＇s kinematics analysis is solved, and the mechanism＇s direct/inverse kinematics model, input/output velocities and accelerations are deduced, which confirm its decoupling movement characteristics. Finally, one kind of mechanism link decomposed-integrated approach is adopted, and the mechanism＇s dynamics model is completed with the Lagrange method, which also proves its decoupling force characteristics. All of these works provide significant theory for the further study of the mechanism＇s control strategy, design, path planning etc.
文摘How to solve the coupling relations in a 6 - DOF parallel robot quickly and accurately within the limits of realtime control is a critical problem. In traditional analytic method, the complicated mathemtical model must first be constructed and then solved by programming.Obviously, this method is not very practical. This paper,therefore, proposes a new way of approach with a new method using 3- D animation for the solving of coupling relations in the 6 - DOF parallel robot. This method is much simpler and its solving accuracy approaches that of the more complicated analytic method.
文摘This research investigated the outputting circulation current inhibition characteristic which are controlled by the instantaneous feedback voltage in inverter parallel driving of the mine hoist. We established a transfer function of the parallel inverters controlled by the close-loop adjustment of instantaneous voltage feedback. The influence of the parameters of the close-loop feedback circuit to the inhibition effects to the outputting circulation current is observed. After analyzing the circulating current inhibition characteristics, the proportion integration （PI） controller is introduced into the close-loop adjustment by instantaneous voltage feedback. The characteristics equation is gained to determine the PI parameters by drawing the Bode plots. The inhibition effects of the proposed controller are examined by the established simulation model of parallel inverter system. The harmonic distortion rate at the outputting voltage frequency value of 4, 10, 20, 41 and 50 Hz, are all lower than 2.32 % by the instantaneous outputting voltage feedback.
基金This work was supported by State Science and Technology Infrastructure Platform Projects (2004DEA70900).
文摘The variation of tensile strength parallel to grain in Chinese fir and 1-214 poplar wood from plantations was studied in this paper. Aaccording to the national standards The Testing Methods for Physical and Mechanical Properties of Wood （GB 1927 to 1943 -- 1991）, the small clear wood samples were cut and tested, which represent the south and north of trees with heights of 1.3, 3.3, 5.3 and 7.3 m. The results showed： the tensile strength parallel to grain of the north wood was higher than that of south wood. ANOVA shows that the tensile strength parallel to the grain with height is of significant difference （at 0.05 level）.
文摘Recent years witness an increased awareness of the value of both metrics data collection and measurement method standardization to software organizations. This trend is coupled with the commitment of both researchers and practitioners to adapt existing measurement methods to new technology projects. For example, the creation of large empirical databases of software projects, such as the ISBSG （International Software Benchmarking Standards Group）, of new functional size measurement standards such as COSMIC Full Function Points （FFP）,
