机器人通过奇点的运动学逆问题的数值解法

机器人在完成其规划动作时,常可能要通过其运动链的奇点,这时求解其运动学逆问题的通用算法遇到本质的困难,本文给出了一种算法,它可以成功地克服这个困难。文中还给出了计算实例。     

变长度弹性伸缩腿双足机器人动力学与控制

研究了半被动双足机器人的平面稳定行走的控制问题．基于弹簧质点模型，采用拉格朗日方法分别得到双足机器人单支撑阶段与双支撑阶段的动力学方程，对机器人系统的动力学方程求得周期解．应用非线性系统状态反馈线性化理论，在双足机器人的单支撑阶段和双支撑阶段中，通过控制双足机器人的腿长度，实现稳定的周期行走．在理论分析的基础上，对控制算法进行了仿真与研究．结果表明：在周期行走过程中，文中采用的变长度控制算法可以使双足机器人克服外界的干扰，并具有较强的抗干扰性．     

AN EXACT METHOD OF BENDING OF ELASTIC THIN PLATES WITH ARBITRARY SHAPE

ＡＮ　ＥＸＡＣＴ　ＭＥＴＨＯＤ　ＯＦ　ＢＥＮＤＩＮＧ　ＯＦ　ＥＬＡＳＴＩＣ　ＴＨＩＮ　ＰＬＡＴＥＳ　ＷＩＴＨ　ＡＲＢＩＴＲＡＲＹ　ＳＨＡＰＥＺｈｏｕＤｉｎｇ（周叮）（ＲｅｃｅｉｖｅｄＡｐｒｉｌ１０，１９９５，ＲｅｖｉｓｅｄＡｐｒｉｌ２６．１９９６．Ｃ...     

非惯性系下柔性悬臂梁的振动主动控制

采用变结构控制方法对非惯性系下柔性悬臂梁的振动主动控制进行研究．重点通过算例揭示一次近似模型与传统的零次近似模型的巨大差异，以及变结构方法在控制非惯性系下柔性悬臂梁的稳态振动的有效性．结果表明，当大范围旋转运动角速度较大时，传统零次近似模型不能对动力系统进行正确的数学描述；变结构控制方法能够使得非惯性系下梁的稳态振动得到完全镇定，且该方法对转动角速度变化具有较好的鲁棒性；采用零次近似模型进行控制设计的控制效果将在某一临界角速度条件下出现失效，该临界角速度值大于静止悬臂梁的基频．     

空间曲线索的平衡方程及单索几何判定

空间曲线索平衡方程可在理想柔索假定的基础上进行推导,也可以由空间曲线梁平衡方程退化得到。本文给出后者的连续化分析过程并进行了初步的讨论,目的在于将空间曲线索的各种力学模型统一起来。采用理想柔索假定后单索只能是平面曲线,自然坐标系和整体直角坐标系下平面曲线索的平衡方程是等价的。同时,针对以往单索连续化分析中几何判定的不足,基于空间曲线的弧长独立参数概念,指出单根理想柔索本质上为静不定和动不定体系。     

The complete process of large elastic-plastic deflection of a cantilever

An extension of the Elastica theory is developed to study the large deflection of an elastic-perfectly plastic horizontal cantilever beam subjected to a vertical concentrated force at its tip. The entire process is divided into four stages: I.elastic in the whole cantilever; II.loading and developing of the plastic region; III.unloading in the plastic region; and IV.reverse loading. Solutions for stages I and II are presented in a closed form. A combination of closed-form solution and numerical integration is presented for stage III. Finally, stage IV is qualitatively studied. Computed results are given and compared with those from small-deflection theory and from the Elastica theory.     

静载荷作用下柔韧圆板的大幅度振动

本文首先给出了均布载荷作用下柔韧圆板的大幅度振动方程，按文中给出的时间模态假设导了该问题的非线性耦合的代数和微分特征方程组，利用修正迭代法求出了该方程组的近似解析解，得到了柔韧圆振动的幅频－载荷特征关系，讨论了静载荷对其振动性态的影响。     

Hybrid Fibers Made of Molybdenum Disulfide,Reduced Graphene Oxide,and Multi‐Walled Carbon Nanotubes for Solid‐State,Flexible, Asymmetric Supercapacitors

One of challenges existing in fiber‐based supercapacitors is how to achieve high energy density without compromising their rate stability. Owing to their unique physical, electronic, and electrochemical properties, two‐dimensional (2D) nanomaterials, e.g., molybdenum disulfide (MoS₂) and graphene, have attracted increasing research interest and been utilized as electrode materials in energy‐related applications. Herein, by incorporating MoS₂ and reduced graphene oxide (rGO) nanosheets into a well‐aligned multi‐walled carbon nanotube (MWCNT) sheet followed by twisting, MoS₂‐rGO/MWCNT and rGO/MWCNT fibers are fabricated, which can be used as the anode and cathode, respectively, for solid‐state, flexible, asymmetric supercapacitors. This fiber‐based asymmetric supercapacitor can operate in a wide potential window of 1.4 V with high Coulombic efficiency, good rate and cycling stability, and improved energy density.     

两个三维柔性功能化双苯并咪唑金属N-杂环卡宾的合成和结构

由1,1'-双苄基-3,3'-氧双(亚乙基-2,1)-二苯并咪唑六氟磷酸盐(L1)和1,1'-双(吡啶-2-甲基)-3,3'-氧双(亚乙基-2,1)-二苯并咪唑六氟磷酸盐(L2)为配体合成了[Hg(C₃₂H₂₈N₄O)](CH₃COO)(PF₆)₂(1)和[NiCl(C₃₀H₂₈N₆O)](PF₆)₂(2),并对其进行了结构表征。配合物1是一个罕见的三价态Hg配合物,为单斜晶系P2₁/c空间群,配合物2为单斜晶系P2₁/n的配合物。1和2中存在O-H…F,C-H…F,C-H…Cl,C-H…π,P-F…π氢键作用和π-π堆积作用,并以此分别形成了3D超分子结构。     

Capacitive Properties of the Binder‐Free Electrode Prepared from Carbon Derived from Cotton and Reduced Graphene Oxide

The binder‐free composite films of reduced graphene oxide (rGO ) and activated carbon derived from cotton (aCFC ) have been fabricated and used as electrodes for electrochemical capacitors (ECs ) to avoid the decrease of capacitive performance in traditional process caused by the additional binder. The optimal aCFC is prepared at 850 °C when the mass ratio of carbon and potassium hydroxide is 1 to 4. The optimal composite film prepared from the mass ratio of aCFC /GO =2/1 exhibits porous structure, and has a specific surface area of 849.6 m²•g⁻¹ and a total pore volume of 0.61 mL •g⁻¹. Based on the two‐electrode system testing in 6.0 mol/L KOH electrolyte, the optimal composite has specific capacitance of about 202 F•g⁻¹, 374 mF •cm⁻² and 116 F•cm⁻³ in terms of mass, area and volume, and shows excellent rate capability and good cyclic stability (91.7% retention of the initial capacitance after 5000 cycles). Furthermore, the assembled solid‐state ECs by using KOH /polyvinyl alcohol as electrolyte show good mechanical stability and capacitive performances after repeated bending cycles. It is proved that this method is effective to fabricate binder‐free electrodes for ECs and will open up a novel route for the reuse of waste cotton.