3 research outputs found

    Reaction Kinetics and Mechanism of Photocatalytic Degradation of Gaseous Toluene

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    以紫外光为光源,锐钛矿型TIO2为催化剂,研究了气相甲苯光催化降解过程,并探讨了降解机理.结果表明,甲苯光催化降解过程符合一级反应动力学方程,甲苯初始浓度越高,反应速率常数越小.甲苯光催化降解的主要中间产物为己烷和苯.在紫外光和TIO2作用下,甲苯经脱甲基反应生成苯和甲基,甲基可与甲苯分解产生的3-戊烯炔生成2,4-己二烯,经加氢转化为己烷.Chemical kinetics and intermediates in photocatalytic degradation of gaseous toluene were investigated under UV irradiation with TiO2.According to the intermediates analyzed by GC/MS, possible mechanism for photocatalytic degradation of gaseous toluene was proposed.The result showed that the degradation of toluene followed the first-order chemical kinetics.With the increase of initial toluene concentration, the reaction rate of photocatalytic degradation of toluene increased and the reaction rate decreased.The main intermediates of photocatalytic degradation were hexane and benzene.Toluene could be converted into benzene and methyl by demethylation with UV irradiation and TiO2.Methyl reacted with 3-penta-eneyne produced by dissociation of toluene into 2,4-hexadiene, which could produce hexane by hydrogenation.国家自然科学基金资助项目(编号:20577030

    轮足混合式行走机器人运动学建模与仿真

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    结合足式机器人与轮式机器人的优点,提出了一种基于2(6-UPUR+3P)混联腿的轮足混合式行走机器人构型,并对该机器人进行了运动学建模与仿真分析。基于螺旋理论建立机器人并联腿部单支链的六维运动螺旋系,基于此得到1阶影响系数矩阵,进而推导出6-UPUR并联腿部的运动学模型;提出了机器人机身姿态调整算法,改善了机器人在静态步行步态下机身运动的平稳性;用Matlab算例仿真与Adams仿真对比验证得出运动学模型的正确性,用Adams/Simulink联合仿真验证得出机身姿态调整策略的有效性,为进一步进行轮足混合式行走机器人控制系统的设计奠定基础

    含间隙并联腿步行机器人的固有频率分析

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    针对步行机器人运行中出现振动与关节异响这一现象,采用动力学方法模拟运动副间隙模型的接触状态,分析了含间隙步行机器人的固有频率,避免了计算模态分析方法在仿真分析时会忽略非线性因素的问题。通过瞬态动力学仿真,计算出含间隙步行机器人的位移响应,再经过傅里叶变换,得到频率响应曲线,曲线峰值对应频率即为含间隙步行机器人的固有频率。仿真结果表明,关节间隙的存在会降低步行机器人的各阶固有频率,但间隙不会影响模态振型,1阶振型均为平台与支腿沿X轴的摇摆振动,2阶振型与1阶振型正交,3阶振型均为平台与支腿沿Z轴的扭转振动
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