Because of their elastic links and joints,high-speed parallel robots for pick-and-place operations inevitably suffer from residual vibrations that significantly degrade their positioning accuracy.An effective approach...Because of their elastic links and joints,high-speed parallel robots for pick-and-place operations inevitably suffer from residual vibrations that significantly degrade their positioning accuracy.An effective approach based on the input shaping technique is presented in this paper for suppressing the residual vibration in these parallel robots.After addressing the design principle of an input shaper for a parallel robot with flexible actuated joints,a robust optimal input shaper is developed by considering the configuration-dependent flexible modes and minimizing the maximum percentage of residual vibration at the end-effector.The input shaper allows a good overall performance to be achieved throughout the entire workspace.Experimental results on a 4-DOF SCARA-type parallel robot show that the residual vibration of the end-effector is dramatically reduced and the dynamic positioning accuracy of the robot significantly improved.展开更多
Lead, zinc, and iron were recovered from jarosite residues using direct reduction followed by magnetic separation. The influence of the coal dosage, reduction temperature, and reduction time on the volatilization rate...Lead, zinc, and iron were recovered from jarosite residues using direct reduction followed by magnetic separation. The influence of the coal dosage, reduction temperature, and reduction time on the volatilization rates of lead and zinc and the metallization rate of iron were investigated. The results show that the volatilization rates of lead and zinc were 96.97% and 99.89%, respectively, and the iron metallization rate was 91.97% under the optimal reduction roasting conditions of a coal dosage of 25.0 wt% and reduction roasting at 1250°C for 60 min. The magnetic concentrate with an iron content of 90.59 wt% and an iron recovery rate of 50.87% was obtained under the optimum conditions in which 96.56% of the reduction product particles were smaller than 37 μm and the magnetic field strength was 24 k A/m. Therefore, the results of this study demonstrate that recovering valuable metals such as lead, zinc, and iron from jarosite residues is feasible using the developed approach.展开更多
Residual stress reduction in low alloy steel by a low frequency alternating magnetic treatment and its mechanism were investigated. Experimental results revealed that average stress reductions of 20%-24% were obtained...Residual stress reduction in low alloy steel by a low frequency alternating magnetic treatment and its mechanism were investigated. Experimental results revealed that average stress reductions of 20%-24% were obtained in the welded samples. Moreover, compared with the zones with lower initial stress levels, more remarkable stress reductions were obtained in the stress concentration zones. The microstructures and magnetic domains were observed by scanning electron microscopy （SEM） and atomic force microscopy （AFM）. Based on the analysis of the microstructure and magnetic domain changes, the mechanism of stress reduction by the magnetic treatment has been concluded： （1） the magneto-plastic deformations mainly due to the more uniform redistribution of dislocations are the fundamental cause of stress relaxation; and （2） surface topography is also proved to affect the magnetic treatment results to some degree by influencing magnetic domains.展开更多
基金Supported by National Natural Science Foundation of China(Grant No.51721003)State Key Laboratory of Robotics and System(HIT)(Grant No.SKLRS–2018–KF-09)。
文摘Because of their elastic links and joints,high-speed parallel robots for pick-and-place operations inevitably suffer from residual vibrations that significantly degrade their positioning accuracy.An effective approach based on the input shaping technique is presented in this paper for suppressing the residual vibration in these parallel robots.After addressing the design principle of an input shaper for a parallel robot with flexible actuated joints,a robust optimal input shaper is developed by considering the configuration-dependent flexible modes and minimizing the maximum percentage of residual vibration at the end-effector.The input shaper allows a good overall performance to be achieved throughout the entire workspace.Experimental results on a 4-DOF SCARA-type parallel robot show that the residual vibration of the end-effector is dramatically reduced and the dynamic positioning accuracy of the robot significantly improved.
文摘Lead, zinc, and iron were recovered from jarosite residues using direct reduction followed by magnetic separation. The influence of the coal dosage, reduction temperature, and reduction time on the volatilization rates of lead and zinc and the metallization rate of iron were investigated. The results show that the volatilization rates of lead and zinc were 96.97% and 99.89%, respectively, and the iron metallization rate was 91.97% under the optimal reduction roasting conditions of a coal dosage of 25.0 wt% and reduction roasting at 1250°C for 60 min. The magnetic concentrate with an iron content of 90.59 wt% and an iron recovery rate of 50.87% was obtained under the optimum conditions in which 96.56% of the reduction product particles were smaller than 37 μm and the magnetic field strength was 24 k A/m. Therefore, the results of this study demonstrate that recovering valuable metals such as lead, zinc, and iron from jarosite residues is feasible using the developed approach.
基金funded by the Teaching and Research Award Program for Outstanding Young Teachers in Higher Education Institutions of Ministry of Education, China (No.[2002]383)the Science and Technology Planning Project of Wuhan City, China (No.20067003111-05)
文摘Residual stress reduction in low alloy steel by a low frequency alternating magnetic treatment and its mechanism were investigated. Experimental results revealed that average stress reductions of 20%-24% were obtained in the welded samples. Moreover, compared with the zones with lower initial stress levels, more remarkable stress reductions were obtained in the stress concentration zones. The microstructures and magnetic domains were observed by scanning electron microscopy （SEM） and atomic force microscopy （AFM）. Based on the analysis of the microstructure and magnetic domain changes, the mechanism of stress reduction by the magnetic treatment has been concluded： （1） the magneto-plastic deformations mainly due to the more uniform redistribution of dislocations are the fundamental cause of stress relaxation; and （2） surface topography is also proved to affect the magnetic treatment results to some degree by influencing magnetic domains.
