On two methods of determining the ellipses and ellipsoids of positioning accuracy of robot manipulators

Summary When analysing the problem of the positioning accuracy of robot manipulators it is important to know how far random deviations of the hand may be from the desired position if the joint positioning errors possess a normal distribution. Two methods of determining the ellipses and ellipsoids of probability concentration are compared. The first of them is based on the standard procedure of the probability calculus. The second approximate method consists in finding at first the polygon or polyhedron of the positioning accuracy, and then in finding the ellipse or ellipsoid with principal axes and second order moments coinciding with those of the polygon or polyhedron, respectively. Examples of application demonstrate that these two methods give very close results.

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Zwei Methoden zur Bestimmung der Ellipsen und Ellipsoide der Positioniergenauigkeit von Handhabungsrobotern

Übersicht Bei der Untersuchung der Positioniergenauigkeit von Handhabungsrobotern ist es wichtig, die Größe zufälliger Abweichungen des Greifers von der erstrebten Position zu kennen, wenn die Lagefehler der Verbindungen eine Normalverteilung besitzen. Es werden zwei Methoden zur Bestimmung der Ellipsen bzw. Ellipsoide der Wahrscheinlichkeitsdichte verglichen. Die erste beruht auf dem Standardverfahren der Wahrscheinlichkeitsrechnung. Die zweite Näherungsmethode besteht darin, daß zunächst das Polygon bzw. Polyeder der Positioniergenauigkeit bestimmt wird und danach die Ellipse bzw. das Ellipsoid mit den Hauptachsen und Momenten zweiter Ordnung wie das Polygon oder Polyeder. Beispiele zeigen, daß beide Methoden zu sehr ähnlichen Ergebnissen führen.

     

Quinaldine derivatives with fluorine-containing substituents and cyanine dyes based on them

Condensation of fluorine-containing anilines with paraldehyde gave quinaldine derivatives with CF₃, CF₃S, and CF₃SO₂ groups in the 6 position, from which carbocyanine, merocyanine, and styryl dyes were synthesized. Fluorine-containing groups lower the basicity of quinaldine by 0.7–2.0 pK_a units and lead to deepening of the color of the dyes.Translated from Khimiya Geterotsiklicheskikh Soedinenii, No. 1, pp. 76–78, January, 1978.     

Unusual coordination of the in(3+) atom in the decahydrated complex Na3{In[N(CH2COO)3]2}·9H2O

All-Union Scientific-Research Institute of Chemical Reagents and Ultrapure Chemical Substances. Translated from Zhurnal Strukturnoi Khimii, Vol. 32, No. 2, pp. 163–166, March–April, 1991.     

Concentration dependence of the surface tension of ternary systems

A surface tension isotherm equation for ternary systems was derived based on general thermodynamic expressions with consideration for the concentration dependence of the molar surface area. Within the experimental errors, the equation describes the properties of ternary systems with smooth surface tension isotherms.     

Thermal stability of segmented polyurethanes

The thermal stabilities of two series of segmented polyurethane fibres have been compared with their chemical structure. The polyurethanes were synthesized from trimethylene diamine; 4, 4′ diphenylmethane di-isocyanate and two polyether based macrodi-isocyanates. Thermal stability was measured by thermogravimetric analysis and differential thermal analysis. By comparing the changes in weight loss and DTA peaks with chemical structure it has been found possible to separate soft segment from hard segment degradation.In the initial stages stability increases as soft segment concentration increases while the reverse is true in the later stages of degradation. The 100% soft segment polymer (polytetrahydrofuran) and the 100% hard segment polymer appear to behave anomalously. It is suggested that the hard segment has a stabilizing influence on the degradation of the soft segment. The results are discussed in the light of various theories of polyurethane degradation.     

Synthesis and acute toxicity of some phosphorylated derivatives of ephedrine alkaloids

The results are given of the synthesis and a comparative study of the toxicities of some phosphorylated derivatives of the alkaloids l-ephedrine and d-pseudoephedrine. It has been shown that the introduction of phosphorus- and sulfur-containing fragments considerably lowers the toxicity of the alkaloids. Institute of Organic Synthesis and Coal Chemistry, National Academy of Sciences of the Republic of Kazakhstan, Karaganda. Translated from Khimiya Prirodnykh Soedinenii, No. 3, pp. 406–408, May–June, 1994.     

Reaction of di- and trisubstituted ethynylsilanemagnesium halides with dimethylethynylfluorosilane

Conclusions The reaction of magnesium bromide derivatives of di- and triethynylsilanes with dimethylethynylfluorosilane gave 1,2-disubstituted silylacetylenes containing ethynyl and vinyl groups at the silicon atoms.Translated from Izvestiya Akademii Nauk SSSR, Seriya Khimicheskaya, No. 11, pp. 2614–2616, November, 1984.