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- 저자 : Baichun Li (검색결과 2 건)
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Yuanxing Dai,Yanming Fu,Baichun Li,Xuezhi Wang,Tianbiao Yu,Wanshan Wang 대한기계학회 2017 JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY Vol.31 No.11
Most mechanism contains one or more joints. However, joint clearances which cannot be dislodged make accuracy analysis become complicated. In order to seek a method to investigate the impact of joint clearances on the accuracy of a parallel robot, this paper deals with the 3-SPS-1-S spatial parallel robot’s pose error predicting and sensitivity analyzing. In this paper, a nonlinear method for evaluating the sources of the pose errors is proposed on the condition that the pose errors only come from joint clearances. Firstly, based on the nonlinear contact modes inside the joints, the error equivalent method is outlined for spherical joint and sliding pair. Then the pose error distribution over its workspace is presented. Secondly, those areas where the pose errors present abnormally changing are analyzed. Thirdly, sensitivity models are defined to evaluate how much the external variable load affects the pose errors. Finally, the simulation results, which are consistent with the structural characteristics of the 3-SPS-1-S spatial parallel robot, proved the validity of the equivalent method proposed in this paper.
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Zhi Liu,Qigu Huang,Mengshan Yu,Jing Wang,Fengjiao Li,Lu Cheng,Jiangping Guo,Yang Zhou,Baichun Zhu,Jianjun Yi,Yunfang Liu,Wantai Yang 한국공업화학회 2014 Journal of Industrial and Engineering Chemistry Vol.20 No.4
Preparation of novel polyethylene/carbon nanotubes (CNTs) nanocomposites with core–shell structure was presented. The method involved in situ ethylene polymerization in which nanotube surface was treated with Grignard Agent, followed by reacting with active transition metal compound, TiCl4. The multiwalled carbon nanotubes (MWCNTs) supported catalysts polymerize ethylene to form polymer nanocomposite. MWCNTs were homogeneously dispersed within polymer matrix, and as expected, the resultant nanocomposites featured core–shell structure which was confirmed by HRTEM. For the nanocomposite, the microscopic examination of the cryogenically fractured surface not only ensured a good distribution of carbon nano-particles in the PE matrix but also revealed the ductile-like fracture. The Raman spectroscopy and X-ray photoelectron spectroscopy (XPS) were employed for the study of covalent sidewall functionalization and chemical bonding environment of MWCNTs, also indicated effective immobilization of titanium catalyst on the MWCNTs surface. The crystalline properties, dielectric property and thermal stability of the nanocomposites were determined by WAXD, impedance analyzer and TGA. The dielectric result showed a slight decline of the dielectric constant of the nanocomposites with increase of the polymerization time, and lower dielectric loss was also observed.
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