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Yawu Wang,Siyu Chen,Pan Zhang 제어·로봇·시스템학회 2022 International Journal of Control, Automation, and Vol.20 No.12
For a planar underactuated manipulator (PUM), if one of its joints is passive except for the first joint, it has the second-order nonholonomic constraint. This paper develops a novel control approach for such PUMs. Combining with the geometry relationship of the PUM and using differential evolution algorithm (DEA), the desired angles of all joints are solved, which transforms the position-posture control into the angle control. The coupling relationship between the passive joint and all active joints is developed, which indicates that the passive joint angle can be adjusted jointly to its desired value when all active joints rotate to their desired angles along specific trajectories. Then, the trajectories for all active joints are constructed, and their design parameters are solved by using the DEA. The continuous state feedback controllers are designed for all active joints to make them track their trajectories. Taking four-link PUMs with one passive joint located at different positions as examples, we perform four simulations and the results verify the universality and superiority of the above approach.
Fang Wang,Siyu Pan,Peikun Zhang,Haojun Fan,Yi Chen,Jun Yan 한국섬유공학회 2018 Fibers and polymers Vol.19 No.5
A novel phosphorus-containing flame retardant plasticizer (PFRP) derived from castor oil acid methyl ester (COME) was synthesized to substitute dioctyl phthalate (DOP) for plasticizing polyvinyl chloride (PVC) products. The chemical structures of PFRP were confirmed by fourier transform infrared spectroscopy (FTIR) and 1H nuclear magnetic resonance (1H NMR). Meanwhile, the plasticizing effect, flammability and thermal stability of plasticized PVC films were investigated by dynamic mechanical analyzer (DMA), limiting oxygen index (LOI) test, scanning electron microscope (SEM) and thermogravimetric analysis (TGA). As the PFRP content increasing from 0 wt% to 50 wt% amount of plasticizers, the plasticizing efficiency and the mechanical properties showed a slightly decreasing tendency compared with that of DOP, while the LOI value of plasticized PVC increased remarkably from 21.5 % to 25.2 %, showing a combined plasticizing efficiency and flame retardancy. SEM and TGA analysis indicated that PFRP had little effect on thermal stability but was effective to promote the formation of compact carbon residue.