WRIST FORCE SENSOR'S DYNAMIC PERFORMANCE CALIBRATION BASED ON NEGATIVE STEP RESPONSE

Negative step response experimental method is used in wrist force sensor＇s dynamic performance calibration. The exciting manner of negative step response method is the same as wrist force sensor＇s load in working. This experimental method needn＇t special experiment equipments. Experiment＇s dynamic repeatability is good. So wrist force sensor＇s dynamic performance is suitable to be calibrated by negative step response method. A new correlation wavelet transfer method is studied. By wavelet transfer method, the signal is decomposed into two dimensional spaces of time-frequency. So the problem of negative step exciting energy concentrating in the low frequency band is solved. Correlation wavelet transfer doesn＇t require that wavelet primary function be orthogonal and needn＇t wavelet reconstruction. So analyzing efficiency is high. An experimental bench is designed and manufactured to load the wrist force sensor orthogonal excitation force/moment. A piezoelectric force sensor is used to setup soft trigger and calculate the value of negative step excitation. A wrist force sensor is calibrated. The pulse response function is calculated after negative step excitation and step response have been transformed to positive step excitation and step response. The pulse response function is transferred to frequency response function. The wrist force sensor＇s dynamic characteristics are identified by the frequency response function.

THE RELATIONSHIPS BETWEEN THE POLARIZING FORCE OF CATIONS AND THE ELECTROPHILIC CHARACTER AND CATALYTIC PERFORMANCES OF PROMOTED Pt-Al_2O_3 CATALYST

The electronic modification effect of various metal oxides over Pt-Al;O;catalyst andthe relationships between the polarizing force of cations（PFC）and the electrophiliccharacter（EC）and catalytic performances（CP）of promoted Pt catalyst have been studiecby competitive hydrogenation reaction method（CHRM）and test reaction,i.e.hydrogena-tion of benzene and hydrogenolysis of cyclopentane.

Five characteristics of China textile industry performance in 2017 Former and present driving forces transferred significantly

According to the 2017 Summary Conference of China National Textile and Apparel Council(CNTAC)held on January 22nd to 23rd,in the first 11 months of 2017,the overall operation of China’s textile industry showed a steady growth rate,stable domestic demand growth。

Simplified performance indices and active control force of vibration isolation systems with elastic base

Influence of the elasticity of the base on vibration isolation performances of single layer, double layer and floating raft vibration isolation systems is investigated systematically. Characteristics of vibration coupling between different vibration isolation systems and different elastic bases are analyzed. Moreover the characteristics of vibration acceleration level difference and force transmissibility of different vibration isolation systems are discussed and their simpli- fled expressions are given. In addition the required control forces of active vibration isolation under different installations of actuators for different vibration isolation systems are compared. The results show that for all vibration isolation systems, the addition of the stiffness and damping of the base can enhance their vibration acceleration level difference and force transmissibility. Moreover for floating raft vibration isolation system, the addition of the stiffness and damping of the raft can enhance its vibration isolation performance and reduce the control force required bv active vibration isolation.