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浆液下搅拌机器人功能研究与方案规划
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作者 郝静如 谢新伟 刘金会 《机械设计与制造》 北大核心 2005年第12期93-95,共3页
提出一种新型工业特种机器人的构思,该机器人应用于新型能源水煤浆的防沉淀技术,具有体积小、能耗少、成本低的优点。分析了其基本功能要求,提出其基本结构组成方案,并对方案进行了分析和论述,特别对其路径规划和超声波定位原理进行了... 提出一种新型工业特种机器人的构思,该机器人应用于新型能源水煤浆的防沉淀技术,具有体积小、能耗少、成本低的优点。分析了其基本功能要求,提出其基本结构组成方案,并对方案进行了分析和论述,特别对其路径规划和超声波定位原理进行了介绍。 展开更多
关键词 下搅拌机器人 防沉淀技术 路径规划 导航定位
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基于模糊逻辑的浆液下搅拌机器人路径跟踪研究
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作者 谢新伟 郝静如 《机械设计与研究》 CSCD 北大核心 2005年第4期27-29,共3页
首先建立了浆液下搅拌机器人车体的运动学模型,然后分析了传统的控制方法无法对其进行精确路径跟踪的原因,设计了用于机器人路径跟踪的模糊控制器,最后经过被控对象的分析与实验,验证了模糊控制器具有使用方便、精度高和稳定性好等优点。
关键词 下搅拌机器人 模糊控制 路径跟踪
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基于PMAC的浆液下搅拌机器人的运动控制研究
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作者 谢新伟 郝静如 《煤矿机械》 北大核心 2005年第2期25-26,共2页
介绍了可编程多轴运动控制器及其开放性 ,给出了基于PMAC的浆液下搅拌机器人运动控制系统的硬件体系结构 ,并对系统进行了软件开发 ,最后经对被控对象编程仿真 ,验证了此运动控制系统具有使用方便。
关键词 下搅拌机器人 可编程多轴运动控制器 运动控制
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浆液下搅拌机器人路径跟踪的模糊逻辑控制
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作者 谢新伟 郝静如 《机械工程师》 2005年第1期22-23,共2页
提出了一种应用于防止水煤浆沉淀的新型工业机器人的构思,建立了浆液下搅拌机器人车体的运动学模型,设计了用于机器人路径跟踪的模糊控制器。仿真实验表明,该模糊控制器具有使用方便、精度高和稳定性好等优点。
关键词 浆液下搅拌机器人 路径跟踪 模糊逻辑
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液下搅拌机器人功能初探与动力学分析 被引量:4
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作者 陈良萍 郝静如 《北京机械工业学院学报》 2004年第1期49-54,共6页
针对目前单纯机械搅拌装置体积大、笨重、能耗多的缺点,提出了液下搅拌机器人的一种方案,并对机器人各部分结构功能进行了初步描述,进而对机器人的运动学和动力学特性做了分析。机器人的研制成功将提高水煤浆代油技术生产的现代化水平。
关键词 下搅拌机器人 动力学 运动学 水煤浆代油技术
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液下搅拌移动机器人的智能模糊控制
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作者 王东尧 郝静如 +1 位作者 李启光 庄延锋 《北京机械工业学院学报》 2006年第4期29-32,共4页
借鉴模糊控制的思想来解决移动机器人路径纠偏问题。介绍了液下搅拌移动机器人的系统结构和运动学原理,以及模糊控制的理论基础。然后采用模糊控制思想对移动机器人的路径纠偏算法进行研究。最后对控制算法进行了实验,结果表明该模糊控... 借鉴模糊控制的思想来解决移动机器人路径纠偏问题。介绍了液下搅拌移动机器人的系统结构和运动学原理,以及模糊控制的理论基础。然后采用模糊控制思想对移动机器人的路径纠偏算法进行研究。最后对控制算法进行了实验,结果表明该模糊控制算法是可行的,机器人能返回到规划的轨迹上。可见模糊控制对移动机器人的路径规划有很好的应用价值。 展开更多
关键词 下搅拌 移动机器人 模糊控制
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F6300下搅拌搪玻璃反应罐的设计
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作者 黄敏冠 《中国搪瓷》 1993年第1期13-17,共5页
关键词 搪玻璃 反应罐 下搅拌
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TRD等厚度水泥土地下搅拌墙和MJS工法桩止水围幕的综合应用 被引量:3
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作者 吴素霞 《上海建设科技》 2021年第6期53-55,共3页
上海市疾病防治院项目止水围幕工程施工完成后,通过抽水实验的水位下降数据分析,发现围幕内外存在水力联系。为此组织专家和各参建单位进行了原因分析。根据工地现场地质勘察结果及周边环境分析,最终专家同意采用设计单位提出的TRD等厚... 上海市疾病防治院项目止水围幕工程施工完成后,通过抽水实验的水位下降数据分析,发现围幕内外存在水力联系。为此组织专家和各参建单位进行了原因分析。根据工地现场地质勘察结果及周边环境分析,最终专家同意采用设计单位提出的TRD等厚度水泥土地下搅拌墙和MJS工法桩相结合的止水围幕形式。方案实施后,重新做抽水实验并将水位降至基坑安全开挖面以下500 mm,水位不再上升,证明此围幕形式起到了止水的效果。 展开更多
关键词 TRD等厚度水泥土地下搅拌 MJS工法桩 止水帷幕抽水实验
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Review on underwater friction stir welding: A variant of friction stir welding with great potential of improving joint properties 被引量:10
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作者 Mohd.Atif WAHID Zahid A.KHAN Arshad Noor SIDDIQUEE 《Transactions of Nonferrous Metals Society of China》 SCIE EI CAS CSCD 2018年第2期193-219,共27页
Friction stir welding(FSW) is a solid-state welding process which is capable of joining materials which are relatively difficult to be welded by fusion welding process. Further, this process is highly energy-efficie... Friction stir welding(FSW) is a solid-state welding process which is capable of joining materials which are relatively difficult to be welded by fusion welding process. Further, this process is highly energy-efficient and environmental-friendly as compared to the fusion welding. Despite several advantages of FSW over fusion welding, the thermal cycles involved in FSW cause softening in joints generally in heat-treatable aluminum alloys(AAs) due to the dissolution or coarsening of the strengthening precipitates leading to decrease in mechanical properties. Underwater friction stir welding(UFSW) can be a process of choice to overcome these limitations. This process is suitable for alloys that are sensitive to heating during the welding and is widely used for heat-treatable AAs. The purpose of this article is to provide comprehensive literature review on current status and development of UFSW and its importance in comparison to FSW with an aim to discuss and summarize different aspects of UFSW. Specific attention is given to basic principle including material flow, temperature generation, process parameters, microstructure and mechanical properties. From the review, it is concluded that UFSW is an improved method compared with FSW for improving joint strength. Academicians, researchers and practitioners would be benefitted from this article as it compiles significantly important knowledge pertaining to UFSW. 展开更多
关键词 ALUMINUM friction stir welding fusion welding mechanical properties microstructure underwater friction stir welding
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Microstructural evaluation and tribological properties of underwater friction stir processed CP-copper and its alloy 被引量:4
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作者 A.MOAREF A.RABIEZADEH 《Transactions of Nonferrous Metals Society of China》 SCIE EI CAS CSCD 2020年第4期972-981,共10页
Underwater friction stir processing was performed on commercially pure copper with a purity of 99.8% and a copper-zinc alloy(brass). The tool was made of tungsten carbide in the threaded cone form. Friction stir proce... Underwater friction stir processing was performed on commercially pure copper with a purity of 99.8% and a copper-zinc alloy(brass). The tool was made of tungsten carbide in the threaded cone form. Friction stir processing was performed at a tool rotational speed of 1800 r/min and a tool transverse speed of 4 mm/min while the samples were immersed in a water tank with a water circulation system. In order to evaluate the effect of the number of process passes on the microstructure and mechanical properties of the samples, this process was continued for up to 6 passes. Microscopic studies using light microscopy on commercially pure copper samples show significant decrease in grain size. Likewise, the hardness of the cross-sectional area shows an increase more than the base metal. The X-ray diffraction pattern of the underwater friction stir processed samples in comparison to that of the base metal exhibits shorter and wider peaks, while the background of the pattern is increased. The sum of these factors represents the formation of an amorphous/ultrafine grained structure. Also, the wear behavior of the samples was investigated by means of pin-on-disk method and the results show that the friction coefficient of processed samples is decreased compared to that of the base metal. The results of wear and hardness tests show that the underwater friction stir processing can significantly improve the wear resistance and hardness of commercially pure copper and brass. 展开更多
关键词 copper alloy friction stir processing UNDERWATER WEAR microstructure
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Achieving High-Quality Aluminium Alloy Welded Joint with Fine Grains Using Submerged Friction Stir Welding
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作者 YOUSSEF Elmeknasssi CAO Fujun +1 位作者 FENG Xiaomei SHEN Yifu 《Transactions of Nanjing University of Aeronautics and Astronautics》 EI CSCD 2022年第S01期59-64,共6页
The purpose of this study is to reveal the microstructure and mechanical properties of friction stir welding(FSW)joints prepared in water/air.For comparable analysis,the submerged FSW(SFSW)and conventional FSW are bot... The purpose of this study is to reveal the microstructure and mechanical properties of friction stir welding(FSW)joints prepared in water/air.For comparable analysis,the submerged FSW(SFSW)and conventional FSW are both conducted on 6061-T6 aluminum alloy plates at the combination rotation speed of 800 r/min and the traverse rate of 50 mm/min.The results show that a greatest grain refinement is achieved by SFSW,which is remarkably smaller than that of the base material(BM)and air FSW(AFSW)samples,leading to a significant improvement of tensile strength from 202.5 MPa in the AFSW sample to 232 MPa in the SFSW sample. 展开更多
关键词 submerged friction stir welding(SFSW) air friction stir welding(AFSW) mechanical properties MICRO-STRUCTURE
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