The grinding principle of plane envelope is demonstrated with the medium rack theory.The basic and general fixing patterns of grinding involute worms with plane envelope method are uniformed.The vector rotating method...The grinding principle of plane envelope is demonstrated with the medium rack theory.The basic and general fixing patterns of grinding involute worms with plane envelope method are uniformed.The vector rotating method is originally applied to calculate precisely the grinding wheel fixing angles γ h and γ n under the general fixing pattern.It is proved with experiments that the method is feasible.展开更多
The shear components of strain tensors for matrix and twin crystal of winned martensite were roughly opposite after calculation,and the strain energy would be reduced.The growth of martensitic plates along the normal ...The shear components of strain tensors for matrix and twin crystal of winned martensite were roughly opposite after calculation,and the strain energy would be reduced.The growth of martensitic plates along the normal direction of the twin plane may depend upon the effect of self-accommodation between the matrix and twin crystals.Based upon the analysis on the displacement vectors of the normals for different habit planes,the{10,3,15}_f plane could form the macroscopic invariant habit plane;but the(55)_f,(22)_f,and(11)_f planes are difficult to become the invariant planes.展开更多
This paper presents a novel approach of obstacle avoidance for redundant manipulators, which is challenging with the considerations of the building of universal kinematics, the formation of dynamics, and the generatio...This paper presents a novel approach of obstacle avoidance for redundant manipulators, which is challenging with the considerations of the building of universal kinematics, the formation of dynamics, and the generation of trajectories. A universal approach to deal with obstacle avoidance for the redundant manipulator, that is based on the configuration plane, is presented. The paper also examines common serial robot configurations and introduces a method for classification, partitioning, simplification, and forms of expression used in the workspace to define the configuration plane. This relatively new method is combined with a weighted space vector method to match the configuration plane and solve the inverse kinematics problem. The proposed planner is demonstrated with examples, in which the proposed planner is shown to be capable of providing a smoother trajectory.展开更多
We have obtained exact static plane-symmetric solutions to the spinor field equations with nonlinear terms which are arbitrary functions of invariant , taking into account their own gravitational field. It is shown th...We have obtained exact static plane-symmetric solutions to the spinor field equations with nonlinear terms which are arbitrary functions of invariant , taking into account their own gravitational field. It is shown that the initial set of the Einstein and spinor field equations with a power-law nonlinearity have regular solutions with a localized energy density of the spinor field only if m=0 (m is the mass parameter in the spinor field equations). Equations with power and polynomial nonlinearities are studied in detail. In this case, a soliton-like configuration has negative energy. We have also obtained exact static plane-symmetric solutions to the above spinor field equations in flat space-time. It is proved that in this case soliton-like solutions are absent.展开更多
文摘The grinding principle of plane envelope is demonstrated with the medium rack theory.The basic and general fixing patterns of grinding involute worms with plane envelope method are uniformed.The vector rotating method is originally applied to calculate precisely the grinding wheel fixing angles γ h and γ n under the general fixing pattern.It is proved with experiments that the method is feasible.
文摘The shear components of strain tensors for matrix and twin crystal of winned martensite were roughly opposite after calculation,and the strain energy would be reduced.The growth of martensitic plates along the normal direction of the twin plane may depend upon the effect of self-accommodation between the matrix and twin crystals.Based upon the analysis on the displacement vectors of the normals for different habit planes,the{10,3,15}_f plane could form the macroscopic invariant habit plane;but the(55)_f,(22)_f,and(11)_f planes are difficult to become the invariant planes.
基金Supported by the Natural Science Foundation of Heilongjiang Province(E2017024)the 13th Five-Year Naval Research(J040717005)National Defense Basic Research(A0420132202)
文摘This paper presents a novel approach of obstacle avoidance for redundant manipulators, which is challenging with the considerations of the building of universal kinematics, the formation of dynamics, and the generation of trajectories. A universal approach to deal with obstacle avoidance for the redundant manipulator, that is based on the configuration plane, is presented. The paper also examines common serial robot configurations and introduces a method for classification, partitioning, simplification, and forms of expression used in the workspace to define the configuration plane. This relatively new method is combined with a weighted space vector method to match the configuration plane and solve the inverse kinematics problem. The proposed planner is demonstrated with examples, in which the proposed planner is shown to be capable of providing a smoother trajectory.
文摘We have obtained exact static plane-symmetric solutions to the spinor field equations with nonlinear terms which are arbitrary functions of invariant , taking into account their own gravitational field. It is shown that the initial set of the Einstein and spinor field equations with a power-law nonlinearity have regular solutions with a localized energy density of the spinor field only if m=0 (m is the mass parameter in the spinor field equations). Equations with power and polynomial nonlinearities are studied in detail. In this case, a soliton-like configuration has negative energy. We have also obtained exact static plane-symmetric solutions to the above spinor field equations in flat space-time. It is proved that in this case soliton-like solutions are absent.
