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6-RTS并联机器人对中装配调节控制量计算方法 被引量:1
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作者 姚进 李洪 《四川大学学报(工程科学版)》 EI CAS CSCD 2001年第5期1-3,共3页
探讨 6 -RTS并联机器人在装配对中的应用。提出了对中装配机器人调节量的计算方法。通过 6 -RTS并联机器人逆位置分析和误差分析 ,分别对其机器人的初调量和微调量进行计算 。
关键词 并联机器人 对中装配 调节控制 初调量 微调量 计算方法 工业自动化生产 机构学
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Enhancement of ion transport in porous media by the use of a continuously reoriented electric field
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作者 Juan ALMEIRA Chang-sheng PENG Ahmed ABOU-SHADY 《Journal of Zhejiang University-Science A(Applied Physics & Engineering)》 SCIE EI CAS CSCD 2012年第7期546-558,共13页
Electromigration in porous media is enhanced by a new type of electrokinetic processing. Compared with a single -oriented electric field, a continuously reoriented electric field was proven to sharply enhance mass tra... Electromigration in porous media is enhanced by a new type of electrokinetic processing. Compared with a single -oriented electric field, a continuously reoriented electric field was proven to sharply enhance mass transport of several heavy metals in kaolin. The initial concentration of the metals was: Cd: 250 mg/kg; Cu: 250 mg/kg; Ni: 250 mg/kg; Zn: 900 mg/kg. Electric field reorientation was obtained by the use of a fixed anode and a cathode that rotated at different frequencies (0, 0.25, 1.00, 1.25, 2.00, 5.00 and 10.00 r/m). Mass transport evidently increased from 0 r/m to 1.25 r/m, and then decreased as the rotation speed reached 10 r/m. From 0 r/m to 1.25 r/m, mass transport increased 2.87 times for Cd, 3.17 times for Cu, 2.11 times for Ni, and 4.13 times for Zn. We suggest that continuous reorientation of the electric field facilitates the advance of ions through kaolin pores, minimizing the retardation effect caused by media tortuosity. 展开更多
关键词 ELECTROMIGRATION Heavy metals KAOLIN Electric field orientation TORTUOSITY Rotating electrodes
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