Multi-objective Topology Optimization and Design for Industrial Robot

为了综合提高工业机器人的结构刚度、振动频率,降低结构质量,从而提高机器人整体的静动态性能,提出了一种基于多目标拓扑优化的机器人结构优化方法.该方法首先对机器人整机和部件进行分析,寻找机器人薄弱的零部件;然后对其进行多目标拓扑优化和模型重建,从而获得最佳的结构.将该方法成功应用于一款3kg装配、搬运等多功能机器 人的分析优化中,结果验证了该分析优化方法的可用性和有效性.In order to comprehensively improve the structure of industrial robots stiffness, vibration frequency, reduce the struc-ture mass so as to improve the static and dynamic performance quality of the robot overall, a robot structure optimization method based on multi-objective topology optimization was presented. In this method, first, the overall and its parts were analyzed, so as to find out its weak parts and weak positions of its main parts. Then the weak parts and weak positions of its main parts were multi-objective topolo-gically optimized and reconstructed, thus obtained an best structure. Finally, the method was applied to an multi-functional 3kg indus-trial robot used on assembly and handling, which verified that the method is available and effective

酸性气火炬筒体堵塞的分析、处理及改进建议

火炬系统是处理石油化工装置生产过程中无法回收或再加工的可燃气体、可燃有毒气体及蒸汽的特殊燃烧设施,其堵塞不畅将对石化企业的安全生产、污染物释放控制带来潜在风险。本文针对某石化企业酸性气火炬系统于某一年12月底出现火炬总管压力高,装置排放后路不畅的问题进行讨论,并结合检修过程中发现的3节筒体和火炬头内均存在大量白色结晶物的现象,分析了酸性气火炬筒体内结晶物形成的机理和过程,总结了结晶物堵塞筒体的处理经验,并提出了相应的改进建议

Research on Transmission Precision of RV Reducer for Industrial Robot

RV（RotateVector）减速器作为一种精密的减速装置，由于其具有扭转刚度大、承载能力高、速比大、回程误差小、体积小等优点而被常广泛应用于工业机器人的关节驱动装置。随着工业机器人对定位精度和回程误差等性能要求进一步的提高，因此对其减速装置的传动精度要求也更加的苛刻。本文通过对RV减速器摆线轮齿形修形方法与系统回差影响因素的分析研究，并从装配工艺的角度寻找提高减速器传动精度的方法。具体的研究工作内容如下： （1）研究了摆线轮齿廓修形设计理论，分析了不同修形方式和不同修形量对摆线轮与针齿啮合相互作用的最大啮合力、最大变形与啮合齿数的影响。 （2）研究了RV减速器的结构及其传动特点，分析了...RV (Rotate Vector) reducer is a kind of high precision reduction device, it’s widely used as instruial robot joint driving devices for its characteristics of high torsional rigidity, high carrying capacity, high speed ratio, small return error, small size and other advantages. With the industrial robot has higher and higher performance requirements on the positioning accuracy and backlash, it also...学位：工学硕士院系专业：航空航天学院_机械电子工程学号：1992014115288

Studies on UV-Vis Spectra of SolublePolyaniline and its Derivative

研究了 POT、PDMAn、Pm Cl An、PAn几种聚苯胺及其衍生物的电子光谱 ,讨论了环取代基和掺杂对紫外可见光谱吸收峰的影响 ,并从高分子链结构的变化及轨道能级进行解释 .研究结果表明环取代基的体积加大 ,数量增加 ,电负性增强将使有效共轭长度变短 ,紫外光谱中吸收峰蓝移 .而质子酸掺杂后分子链中形成半醌式自由基阳离子 ,电活性大大提高 ,紫外可见光谱吸收峰也将发生变化 .By comparing the absorption band and its displacement in UV Vis spectra of polyaniliines such as POT, PDMAn, PmClAm and PAn, it was found that the ring substituted groups and proton doping have great influence on the elect r ical properties of the polymers. The influences are explained in terms of the ch anges of macromolecular chain structure and orbital energy. The results show tha t an increase in the bulk or number of subtituted groups, or electron don ating and withdrawing toning up, would bring about shortening in the effective c onjugate length. And after protondoping, the macromolecular chain formed semiqui noid free radical cations, hence the electroactivity of polymers increased evide ntly, and the absorption wavelength displaced in UV Vis spectra.国家教育部博士点科研基金资助项目 (19990 384 0 4

Properties of Metallized Poly-o-toluidide Membrane Modified Electrode

通讯联系人, E_mail:[email protected][中文文摘]在聚邻甲苯胺 (POT)膜修饰电极上用电化学法沉积Pt微粒 ,由SEM与XRD表征其表面形态与晶面取向 ,同时研究异丙醇在金属化POT膜电极上的氧化行为 .结果表明 ,Pt在POT膜上的沉积呈现晶面择优取向的现象 ,况且POT质子掺杂后 ,由于电化学活性增强 ,影响了沉积铂微粒的尺寸和粒径分布 .异丙醇的电氧化可发生在POT的电化学活性区 ,当电位大于 0 .70V(SCE)时 ,POT不再呈氧化还原活性 ,异丙醇的电氧化主要在铂微粒上进行 .聚合物不仅作为铂微粒的载体而且自身参加反应 ,这种微异相催化体系需用新的模型描述。[英文文摘]The platinum particles were electrodeposited on poly(o_toluidide),POT,modified electrode,and the surface configuration and crystal orientation of Pt particles were investigated by SEM and XRD.At the same time the oxidation of isopropanol on platinized POT modified electrode was studied.The results indicate that Pt particles deposite towards preferred_orientation;moreover the increase in polymer electroactivity due to proton doping affects the dimension and graininess of deposited Pt particles.At the metallized polymer electrode the oxidation of isopropanol can occur in POT electroactive potential region, however at the more positive than 0.70V(SCE) potential where POT loses redox activity the elect ro_oxidation mainly occurrs on Pt particles.It follows that the polymer not only behaves as the support of Pt particles but also participates in the reaction. Such a "microheterog eneous catalysis system" needs to be described by a new model.国家教育部博士点专项科研基金(1999038404 )资助项

Electrochemical and Electrocatalytic Behavior of Poly-2,5-dimethoxyaniline Modified Electrode

通讯联系人：戴李宗[中文文摘]由乳液聚合法得到的聚 ( 2 ,5 -二甲氧基苯胺 ) ( PDMAn)制作导电聚合物膜修饰电极 ,并在其上用电化学法沉积 Pt微粒 ,SEM与 XRD用于表征其表面形态与晶面取向 ,同时研究异丙醇在金属化 PDMAn膜修饰电极上的氧化行为 .结果表明 ,Pt在 PDMAn膜上的沉积呈现 ( 2 0 0 )晶面择优取向的现象 ,而且聚合物掺杂后 ,电化学活性增强 ,沉积 Pt微粒的尺寸和粒径分布也发生变化 .金属化聚合物电极是一种微相异相催化体系 ,虽然异丙醇的氧化主要发生在 Pt微粒上 ,但聚合物不单纯作为金属微粒的分散介质 ,对铂微粒的性质也产生影响。[英文文摘]The platinum particles were electrodeposited on poly(2,5 dimethoxyaniline)(PDMAn) membrane modified electrode. The polymer was obtained by emulsion polymerization. The surface configuration and crystal orientation of Pt particles have been investigated by SEM and XRD. The results of the oxidation of isopropanol on platinized PDMAn modified electrode show that Pt particles deposited towards preferred orientation on Pt(200), and, the increase in polymer electroactivity due to proton doping affects the dimension and grain iness of deposited Pt particles. The metallized polymer modified electrode is proved to be a“microheterogeneous catalysis system ”.At them etallized polymer electrode the oxidation of isopropanol mainly took place on Pt particles,and the polymer not only plays a role as a dispersion medium but also affects the catalysis property of Pt particles.国家教育部博士点专项科研基金资助项目 (19990 3840 4

Emulsion Polymerization of m-Chloroaniline and Characterization of Macromolecular Chain Structu

[英文文摘]In this work poly\|\%m\%\|chloroaniline(PmClAn) was synthesized by emulsion polymerization. By discussing the influences of reaction temperature and concentrations of initiator on the polymerization reaction, it was found that PmClAn with mean molecular weight of 1.85×10\+3(corresponding to 15 chain elements) could be obtained under the following conditions: 80 ℃, \=0\^187 mol/L, \=4.8×10\+\{-2\} mol/L, \=5.6×10\+\{-2\} mol/L(where M, SDS and KPS stand for monomer, emulsifier and initiator K\-2S\-2O\-8, respectively) , reaction period 2. 5 h. From 1H NMR, FT IR, TEM and SEM measurements the structure of PmClA n was determined. It was found that in themacromolecular chain the ratio of benzoid to quinoid unitsw as 3∶2, and that PmClA n was characterized by itstyp-ical molecular crystalline being monoclinic with crystall2cell parameters of a= 01679 nm , b= 21304 nm , c= 01573 4 nm, A= 90°, B= 100. 9°and C= 90°. By usingMM + molecular mechanics methode in Hyper Chem p rogram , X-ray diffraction data were analyzed, thereby the configuration of PmClAn chain was determined and optimized.国家教育部博士点专项科学研究基金(批准号:19990 3 8404); 中 -法先进研究计划 (批准号:PRA;E-01-07)

The Physical Design of a RISC CPU Core Based on the SVP

在物理设计前期芯片物理信息供不应求的瓶颈制约着超深亚微米系统芯片设计时序、功率、信号完整性收敛及物理层次化设计方法的有效应用,硅虚拟原型在芯片物理设计流程中的应用有效地解决了这些问题。文章介绍了一个基于SVP的32位RISC CPU核的物理设计实现,并分析讨论了保持SV P与最终实现芯片时序相关性的方法。Deficiency of physical information in the initial stages of ultra-deep submicron SoC physical designs has restricted the use of physical hierarchical design methodology and the convergence of timing, power and signal integrity. The methodology of silicon virtual prototyping can solve these problems effectively. In this paper, it introduces a physical implementation of a RISC CPU core and discusses the methods to keep close timing relationship between the SVP and the chip’s final implementation.武器装备预研基金(GF200201);; 福建省自然科学基金资助(F0110009

一种邻苯二酚检测传感器与制备方法及其应用

申请号：200510000290.0 申请日：2005.01.10 名称：一种邻苯二酚检测传感器与制备方法及其应用 公开(公告)号：CN1667406 公开(公告)日： 2005.09.14 主分类 号：G01N27/30 分类号： G01N27/30;C07C319/02;C07C321/26 申请(专利权)人：厦门大学 地 址：361005福建省厦门市思明南路422号 发明(设计)人：许一婷;戴李宗;陈江枫;吴辉煌 专利 代理 机构：厦门南强之路专利事务所 代理人：马应森一种邻苯二酚检测传感器与制备方法及其应用，涉及电子导电聚合物-聚邻氨基苯硫酚聚合物膜修饰电极及其制备方法，并用于传感器在水污染物及神经传递物邻苯二酚的检测。提供以聚邻氨基苯硫酚为电极修饰物的电化学传感器即邻苯二酚检测传感器与制备方法，并将邻苯二酚检测传感器作为传感器在水污染物及神经传递物邻苯二酚检测的应用。包括惰性电极基体和导电聚合物修饰膜，导电聚合物膜为乳液聚合产物聚邻氨基苯硫酚，基体电极表面聚合物的附着量为0.3～1.5mg·cm-2。其步骤为将盐酸掺杂的PAT(HCl)溶于N，N-二甲基甲酰胺中，配成1.0～10.0mg/mL的溶液，取聚合物溶液涂覆于电极表面，烘干；将聚合物膜修饰电极预先在1.0mol/L的硫酸介质中进行循环伏安扫描

一种聚合物膜修饰电极与制备方法及其应用

申请号：200510000283.0 申请日：2005.01.10 名称：一种聚合物膜修饰电极与制备方法及其应用 公开(公告) 号：CN1667404 公开(公告)日： 2005.09.14 主分类号：G01N27/30 分案原申请号： 分类号：G01N27/30 申请(专利权)人：厦门大学 地址：361005福建省厦门市思明南路422号 发明(设计)人：戴李宗;许一婷;陈江枫;吴辉煌 专利代理机构：厦门南强之路专利事务所 代理人：马应森一种聚合物膜修饰电极与制备方法及其应用，涉及一种导电聚合物金属化膜修饰电极，尤其是主要应用于水污染物异丙醇的检测的一种聚合物膜修饰电极与制备方法及其应用。提供一种聚合物膜修饰电极，即电子导电聚合物聚邻甲苯胺修饰电极及其制备方法。并将电子导电聚合物聚邻甲苯胺修饰电极应用于制备异丙醇检测传感器。包括惰性电极基体、导电聚合物膜及催化剂，导电聚合物膜为本征态或掺杂态聚邻甲苯胺，在惰性电极基体电极表面聚合物的附着量为0.3～1.0mg·cm-2。其步骤为：滴涂法制备聚合物膜修饰电极；聚合物膜的金属化