Analysis of end point vibrations of a two-link manipulator by integrated CAD/CAE procedures

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.     

The effect of ITO films thickness on the properties of flexible organic light emitting diode

Indium tin oxide (ITO) thin films were deposited on cyclic olefin copolymer substrate at room temperature by an inverse target sputtering system. The crystal structure and the surface morphology of the deposited ITO films were examined by X-ray diffraction and atomic force microscopy, separately. The electrical properties of the conductive films were explored by four-point probing. Visible spectrometer was used to measure the optical properties of ITO-coated films. The performance of the flexible organic light emitting diode device with different thickness anode was investigated in this study.     

在重力场和磁场影响下自旋刚性航天器的周期运动

考虑重力场和磁场对轴对称航天器本体的影响，研究其质心在圆形轨道上的运动,通过降低系统的运动方程数，并将它变成为一个带电粒子在电磁场作用下的平面运动．确认系统运动是稳定的，并通过Liapunov全纯积分定理，构建其近似的周期运动.     

The thermal properties of complex, nanophase-separated macromolecules as revealed by temperature-modulated calorimetry

Linear, flexible macromolecules are long recognized as phase structures limited to micrometer and nanometer dimensions with covalent bonds crossing the interfaces. This special, usually non-equilibrium structure leads to unique properties and a multitude of changes for different thermal and mechanical histories. Analyses that enable the study of these properties are temperature-modulated calorimetry and related techniques which allow the separation of equilibrium and non-equilibrium responses. Research on these topics is reviewed and combined to a model for the nanophases. The new approach to the complex nanophase systems yields a better understanding of the relationship between structure and thermodynamic properties. Special emphasis is placed on the size and surface effects on the glass and melting transitions, the development of rigid-amorphous phases, and the reversible melting within the globally metastable structure.     

含柔性间隔基的热致液晶性共聚酯的结晶形态

采用偏光显微镜、扫描和透射电镜从不同层次的结构水平上研究了含柔性间隔基热致液晶性共聚酯的结晶形态。在偏光显微镜下观察到典型的负光性球晶形态,透射电镜揭示了球晶是由厚度为10nm并沿着径向生长的片晶结构所组成,分子链沿晶片厚度方向取向排列。并研究了分子链的刚性程度对热致聚芳酯结晶性质的影响。结果表明,分子链刚性越大其结晶性和球晶的完善性越高。     

Antistatic applications of conducting polyaniline

A method is described to impart flexibility and mechanical strength to conducting polyaniline by polymerizing aniline on fabrics and on cellulose papers. The study indicates that these conducting fabrics offer 16–18 dB of shielding effectiveness for the control of electromagnetic interference (EMI) up to a frequency of 10³ MHz.     

MOLECULAR FIELD THEORY FOR NEMATIC LIQUID CRYSTAL POLYMER COMPRISING FLEXIBLE SPACER

Basea on the new model and concept of mtramolecular orientational order parameter, a molecular field theory was built up for main chain liquid crystalline polymer (MC-LCPs) with flexible spacers. The theory takes account of orientational correlation among all mesogens in a polymer chain and the relationship between the intramolecular orientation and spatial orientation of the mesogens. The free energy, temperature and entropy of the nematic-isotropic transition were determined with the theory and compared with experiments in current work. It was found that many unique transition properties of the MC-LCPs comprising flexible spacer are correctly predicted by the theory and the agreement of the theory with the experiments is impressive.     

空间机器人组装超大型结构的动力学分析北大核心CSCD

超大型航天结构具有超大柔性、超低固有频率的特点,空间机器人在轨组装时应尽可能避免激起超大型结构的柔性振动.空间机器人组装超大型结构模块的过程分成抓捕阶段、位姿调整与稳定阶段、安装阶段和爬行阶段.通过对安装阶段的动力学与控制研究,提出共线安装的轨迹规划方法,有效避免了柔性结构振动.首先,采用自然坐标法和绝对节点坐标法建立主结构-空间机器人-待组装结构的在轨组装系统动力学模型.然后,将共线安装的要求转化为空间机器人的轨迹规划约束,要求空间机器人质心到主结构/待组装结构的距离保持不变,实现共线安装的轨迹规划.数值仿真表明:提出的组装方法在组装过程中可有效避免超大型结构的横向运动,降低夹持力矩.最后,分析了系统参数对组装过程动力学响应的影响,为超大型航天器的在轨组装提供了参考.     

Syntheses, crystal structures and properties of novel zinc(II) complexes obtained by reactions of zinc(II) malonate with flexible multidentate ligands

Complex [Zn₂(bimb)₂(mal)₂(H₂O)₂]·4H₂O (1) (mal=⁻OCOCH₂COO⁻) was obtained by reaction of bidentate ligand 4,4′-bis(imidazole-1-ylmethyl)biphenyl (bimb) with zinc(II) salt of malonate, while the reaction of the same metal salt with 1,3,5-tris(imidazol-1-ylmethyl)-2,4,6-trimethylbenzene (titmb) gives another novel complex [Zn₂(titmb)₂(mal)][mal]·12H₂O (2). The structures of these complexes were determined by X-ray crystallography. The results revealed that 1 is a cyclic dinuclear complex in which the malonate groups act as terminators and prevent further aggregation, while 2 is a 2D honeycomb network in which each independent 2D sheet contains two sub-layers bridged by the malonate groups and complex 2 also contains free malonate as a counteranion connected to the 2D layer by C-H?O hydrogen bonds. The entirely different structure and topology of complexes 1 and 2, on the one hand, indicates that the nature of organic ligands affected the structures of assemblies greatly, and on the other, reveals the versatility of the malonate which can act as a bridging and/or blocking ligand.     

Flexible matching of test ligands to a 3D pharmacophore using a molecular superposition force field: Comparison of predicted and experimental conformations of inhibitors of three enzymes

Summary A computer procedure TFIT, which uses a molecular superposition force field to flexibly match test compounds to a 3D pharmacophore, was evaluated to find out whether it could reliably predict the bioactive conformations of flexible ligands. The program superposition force field optimizes the overlap of those atoms of the test ligand and template that are of similar chemical type, by applying an attractive force between atoms of the test ligand and template which are close together and of similar type (hydrogen bonding, charge, hydrophobicity). A procedure involving Monte Carlo torsion perturbations, followed by torsional energy minimization, is used to find conformations of the test ligand which cominimize the internal energy of the ligand and the superposition energy of ligand and template. The procedure was tested by applying it to a series of flexible ligands for which the bioactive conformation was known experimentally. The 15 molecules tested were inhibitors of thermolysin, HIV-1 protease or endothiapepsin for which X-ray structures of the bioactive conformation were available. For each enzyme, one of the molecules served as a template and the others, after being conformationally randomized, were fitted. The fitted conformation was then compared to the known binding geometry. The matching procedure was successful in predicting the bioactive conformations of many of the structures tested. Significant deviation from experimental results was found only for parts of molecules where it was readily apparent that the template did not contain sufficient information to accurately determine the bioactive conformation.