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输电线巡检机器人动力学建模与DME评价 被引量:13
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作者 李小彭 尚东阳 +1 位作者 李凡杰 曹伟龙 《东北大学学报(自然科学版)》 EI CAS CSCD 北大核心 2020年第9期1280-1284,共5页
以新设计的输电线巡检机器人为具体研究对象,采用D-H法推导出机器人的雅可比矩阵;然后建立输电线巡检机器人的Lagrange动力学模型,进而依据机器人动力学模型求得输电线巡检机器人的操作臂惯性矩阵,提出了基于操作臂惯性矩阵所建立的机... 以新设计的输电线巡检机器人为具体研究对象,采用D-H法推导出机器人的雅可比矩阵;然后建立输电线巡检机器人的Lagrange动力学模型,进而依据机器人动力学模型求得输电线巡检机器人的操作臂惯性矩阵,提出了基于操作臂惯性矩阵所建立的机器人动力学评价指标:动态可操作性椭球(DME:dynamic operability ellipsoid)评价指标;最后结合逆运动学的反解,建立了不同空间轨迹坐标下的动态可操作性衡量指标,获得机器人动力学性能最佳的越障轨迹.通过机器人跨越绝缘子障碍的实验证明了所提动力学评价方法的有效性. 展开更多
关键词 巡检机器人 Lagrange动力学 动态可操作性椭球(DME) 越障轨迹 动力学评价方法
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Evaluation of an improved epichlorohydrin synthesis from dichloropropanol using a microchemical system
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作者 吕阳成 王蕊 +2 位作者 张吉松 靳倩如 骆广生 《Chinese Journal of Chemical Engineering》 SCIE EI CAS CSCD 2015年第7期1123-1130,共8页
Synthesizing epichlorohydrin(ECH) from dichloropropanol(DCP) is a complicated reaction due to the partial decomposition of ECH under harsh conditions. A microchemical system can provide a feasible platform for improvi... Synthesizing epichlorohydrin(ECH) from dichloropropanol(DCP) is a complicated reaction due to the partial decomposition of ECH under harsh conditions. A microchemical system can provide a feasible platform for improving this process by conducting a separation once full conversion has been achieved. In this work, referring to a common DCP feed used in industry, the reaction performance of mixed DCP isomers with Na OH in the microchemical system on various time scales was investigated. The operating window for achieving high conversion and selectivity was on a time scale of seconds, while the side reactions normally occurred on a time scale of minutes. Plenty of Cl-ions together with a high temperature were proved to be critical factors for ECH hydrolysis.A kinetic study of alkaline mediated ECH hydrolysis was performed and the requirements for an improved ECH synthesis were proposed by combining quantitative analysis using a simpli fied reaction model with experimental results on the time scale of minutes. Compared with the conventional distillation process, this new strategy for ECH synthesis exploited microchemical system and decoupled the reaction and separation with potentials of higher productivity and better reliability in scaling up. 展开更多
关键词 EpichlorohydrinDichloropropanolMicrochemical systemSynthesisProcess decoupling
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