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重载机器人平衡系统建模及验证
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作者 谭鹏飞 周波 孟正大 《工业控制计算机》 2017年第8期92-94,96,共4页
针对华恒焊接股份有限公司的重载机器人本体,对其液气平衡系统进行了理论分析,推导了该平衡系统对应的平衡力矩理论模型,并给出了臂杆自重及负载作用在其肩关节上的偏重力矩,从而建立了该液气平衡系统的数学模型。最后进行了重载机器人... 针对华恒焊接股份有限公司的重载机器人本体,对其液气平衡系统进行了理论分析,推导了该平衡系统对应的平衡力矩理论模型,并给出了臂杆自重及负载作用在其肩关节上的偏重力矩,从而建立了该液气平衡系统的数学模型。最后进行了重载机器人平衡缸实验,验证了所建立的平衡系统数学模型的正确性。 展开更多
关键词 重载机器人 液气平衡系统 平衡力矩 偏重力矩
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Ternary Liquid-Liquid Equilibrium for Systems of Fatty Acid Methyl Ester(Methyl Palmitate/Methyl Stearate)+Ethanol+Glycerol at Atmospheric Pressure
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作者 夏淑倩 罗慧娟 马沛生 《Transactions of Tianjin University》 EI CAS 2015年第5期392-399,共8页
Liquid-liquid equilibrium data of two ternary systems methyl palmitate+ethanol+glycerol and methyl stearate+ethanol+glycerol at(318.2 and 333.2)K and atmospheric pressure were measured. The values of distribution coef... Liquid-liquid equilibrium data of two ternary systems methyl palmitate+ethanol+glycerol and methyl stearate+ethanol+glycerol at(318.2 and 333.2)K and atmospheric pressure were measured. The values of distribution coefficient and selectivity were calculated, which indicates that glycerol can be separated from fatty acid ester by using ethanol as an extraction solvent. The consistency of the isothermal tie-line data were checked by the Othmer-Tobias equation. The correlation coefficients R2 are higher than 0.993,9 for all the fitted curves. The NRTL activity coefficient model was applied to the correlation of the measured tie-line data. The root mean square deviation(RMSD)values are less than 0.007 for all the systems, which shows a good predictive capability of this model for such systems. 展开更多
关键词 liquid-liquid phase equilibrium fatty acid methyl ester ETHANOL NRTL model BIODIESEL
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