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201.
In this work, the effect of flexibility on the trajectory of a planar two-link manipulator is studied using integrated computer-aided design/analysis (CAD/CAE) procedures. The solid models and finite element models of the parts of the manipulator are created by using the CAD/CAE software I-DEAS. The assembly is defined, and knowing the payload and the end point trajectory, the velocities and accelerations of the parts, joint forces and driving torques are calculated using the rigid body dynamics. All the time dependent nodal forces acting on the parts including distributed gravity and inertia forces are created in files with the I-DEAS program file format. The finite element vibration analysis of the parts is performed by I-DEAS. The end point vibrations and the deviations from the rigid-body trajectory are analyzed for different types of end point acceleration curves. A circular trajectory is considered as an example. It is observed that the precision of the manipulator can be increased by testing different end point acceleration curves without changing the trajectory and the duration of the end point work. The procedure explained in this work can be used for this purpose successfully. 相似文献
202.
Dmitri V Sevenard Vyacheslav Ya SosnovskikhAlexander A Kolomeitsev Martin H KönigsmannGerd-Volker Röschenthaler 《Tetrahedron letters》2003,44(41):7623-7627
In a convenient and efficient procedure, the nucleophilic 1,4-trifluoromethylation of several α,β-enones using (trifluoromethyl)trimethylsilane was achieved. The high regioselectivity of the reaction has been reached by blocking the carbonyl moiety of the electrophile with a bulky aluminum-centered Lewis acid. 相似文献
203.
Thomas H. Pate 《Linear and Multilinear Algebra》2003,51(3):263-278
If 1≤k≤n, then Cor(n,k) denotes the set of all n×n real correlation matrices of rank not exceeding k. Grone and Pierce have shown that if A∈Cor (n, n-1), then per(A)≥n/(n-1). We show that if A∈Cor(n,2), then , and that this inequality is the best possible. 相似文献
204.
I. P. Kuranova K. M. Polyakov E. A. Smirnova W. E. Höhne V. S. Lamzin R. Meijer 《Crystallography Reports》2003,48(6):953-958
Crystals of Saccharomyces cerevisiae inorganic pyrophosphatase suitable for X-ray diffraction study were grown by cocrystallization of the enzyme with cobalt chloride and imidodiphosphate. Saccharomyces cerevisiae is a metal-dependent enzyme which catalyzes hydrolysis of inorganic pyrophosphate to orthophosphate. The three-dimensional structure of this enzyme was solved by the molecular-replacement method and refined at 1.8 Å resolution to an R factor of 19.5%. Cobalt and phosphate ions were revealed in the active centers of both identical subunits (A and B) of the pyrophosphatase molecule. In subunit B, a water molecule was found between two cobalt ions. It is believed that this water molecule acts as an attacking nucleophile in the enzymatic cleavage of the pyrophosphate bond. It was demonstrated that cobalt ions and a phosphate group occupy only part of the potential binding sites (two chemically identical and crystallographically independent subunits have different binding sites). The arrangement of ligands and the structure of the nucleophile-binding site are discussed in relation to the mechanism of action of the enzyme and the nature of the metal activator. 相似文献
205.
A crystalline quartz plate of thickness 1.070 mm is calibrated between 370 and 794 nm. Throughout this spectral interval, the retardance varied by 32π and the plate introduced quarterwave retardance 16 times at different wavelengths. The birefringence (ne−no) of crystalline quartz was calculated as a single quantity and varied from 0.00971 at 370 nm to 0.00891 at 794 nm. All measurements were carried out at 23°C. 相似文献
206.
Timoshenko's theory of vibrating beams requires a shear correction factor to correctly take into account the effects of shear deformation for different beam cross-sections. This correction is crucial for a precise determination of the shear modulus from the resonant frequencies. Hutchinson's beam theory is used to derive a new shear correction coefficient for anisotropic materials. A comparison is made with other shear coefficients for anisotropic materials published in the literature. Computer-simulated spectra are used to validate the new anisotropic shear correction coefficient. 相似文献
207.
The refraction holodiagram RHD is analyzed here with respect to the law of refraction. Particularly, we study the surface that exactly conjugates by refraction a virtual point source with a real image or conversely. By using the total optical path as a parameter we build a diagram that consists in a family of Descartes ovals of the apple type that contains the Pascal's limaçon as a particular extreme case and the spherical surface with the Weierstrass points as another. These representations permit the straightforward application of Fermat's principle in the case of arbitrary refracting surfaces and show the shape of generalized Fresnel's zones in the intersections with any surface. Snell's law is applied to rays incident on the apple type surfaces to find out the conditions for exact conjugation. Sensitivity to optical path variations is also discussed. The RHD curves family can be represented in a Cartesian way where the ovals appear as equally spaced straight lines. 相似文献
208.
C.H. Chen 《Journal of sound and vibration》2003,263(4):797-813
A neural-network-based method is offered to determine the flutter derivatives of section models under smooth and turbulent flows. The approach uses the observed dynamic responses to train an appropriate neural network. Subsequently, the modal parameters of the model for different mean velocities of wind flow are directly estimated using weight matrices in the neural network. The flutter derivatives can then be determined accurately. The validity of the present method is verified through numerical studies. Finally, the procedure is employed to process experimental data from an inverted-U-type section model, obtained from wind tunnel tests. 相似文献
209.
210.
Nešetřil and Sopena introduced the concept of oriented game chromatic number. They asked whether the oriented game chromatic
number of partial k-trees was bounded. Here we answer their question positively.
Received: January 12, 2001 Final version received: February 25, 2002 相似文献