Parallel kinematic machines （PKMs） have the advantages of a compact structure,high stiffness,a low moving inertia,and a high load/weight ratio.PKMs have been intensively studied since the 1980s,and are still attract...Parallel kinematic machines （PKMs） have the advantages of a compact structure,high stiffness,a low moving inertia,and a high load/weight ratio.PKMs have been intensively studied since the 1980s,and are still attracting much attention.Compared with extensive researches focus on their type/dimensional synthesis,kinematic/dynamic analyses,the error modeling and separation issues in PKMs are not studied adequately,which is one of the most important obstacles in its commercial applications widely.Taking a 3-PRS parallel manipulator as an example,this paper presents a separation method of source errors for 3-DOF parallel manipulator into the compensable and non-compensable errors effectively.The kinematic analysis of 3-PRS parallel manipulator leads to its six-dimension Jacobian matrix,which can be mapped into the Jacobian matrix of actuations and constraints,and then the compensable and non-compensable errors can be separated accordingly.The compensable errors can be compensated by the kinematic calibration,while the non-compensable errors may be adjusted by the manufacturing and assembling process.Followed by the influence of the latter,i.e.,the non-compensable errors,on the pose error of the moving platform through the sensitivity analysis with the aid of the Monte-Carlo method,meanwhile,the configurations of the manipulator are sought as the pose errors of the moving platform approaching their maximum.The compensable and non-compensable errors in limited-DOF parallel manipulators can be separated effectively by means of the Jacobian matrix of actuations and constraints,providing designers with an informative guideline to taking proper measures for enhancing the pose accuracy via component tolerancing and/or kinematic calibration,which can lay the foundation for the error distinguishment and compensation.展开更多
Recent advances on mixed matrix membrane for CO<sub>2</sub> separation are reviewed in this paper. To improve CO<sub>2</sub> separation performance of polymer membranes, mixed matrix membranes ...Recent advances on mixed matrix membrane for CO<sub>2</sub> separation are reviewed in this paper. To improve CO<sub>2</sub> separation performance of polymer membranes, mixed matrix membranes (MMMs) are developed. The concept of MMM is illustrated distinctly. Suitable polymer and inorganic or organic fillers for MMMs are summarized. Possible interface morphologies between polymer and filler, and the effect of interface morphologies on gas transport properties of MMMs are summarized. The methods to improve compatibility between polymer and filler are introduced. There are eight methods including silane coupling, Grignard treatment, incorporation of additive, grafting, in situ polymerization, polydopamine coating, particle fusion approach and polymer functionalization. To achieve higher productivity for industrial application, mixed matrix composite membranes are developed. The recent development on hollow fiber and flat mixed matrix composite membrane is reviewed in detail. Last, the future trend of MMM is forecasted.展开更多
As an emerging zero-dimensional nano crystalline porous material,porous organic cages(POCs)with soluble properties in organic solvents,are promising candidates as molecular fillers in mixed matrix membranes(MMMs).The ...As an emerging zero-dimensional nano crystalline porous material,porous organic cages(POCs)with soluble properties in organic solvents,are promising candidates as molecular fillers in mixed matrix membranes(MMMs).The pore structure of POCs should be adjusted to trigger efficient gas separation performance,and the interaction between filler and matrix should be optimized.In this work,ionic liquid(IL)was introduced into the molecular fillers of CC3,to construct the IL@CC3/PIM-1 membrane to effectively separate CO_(2) from CH_(4).The advantages of doping IL include:(1)narrowing the cavity size of POCs from 4.4 to 3.9Åto enhance the diffusion selectivity,(2)strengthening the CO_(2) solubility to heighten the gas permeability,and(3)improving the compatibility between filler and matrix to upgrade membrane stability.After the optimization of the membrane composite,the IL@CC3/PIM-1-10%membrane possesses the CO_(2) permeability of 7868 Barrer and the CO_(2)/CH_(4) selectivity of 73.4,which compared to the CC3/PIM-1-10%membrane,improved by 15.9%and 106.2%,respectively.Furthermore,the membrane has maintained a stable separation performance at varied temperatures and pressures during the long-term test.The proposed method offers an efficient way to improve the performance of POCs-based MMMs in gas separation.展开更多
基金supported by Tianjin Research Program of Application Foundation and Advanced Technology of China (Grant No.11JCZDJC22700)National Natural Science Foundation of China (GrantNo. 51075295,Grant No. 50675151)+1 种基金National High-tech Research and Development Program of China (863 Program,Grant No.2007AA042001)PhD Programs Foundation of Ministry of Education of China (Grant No. 20060056018)
文摘Parallel kinematic machines （PKMs） have the advantages of a compact structure,high stiffness,a low moving inertia,and a high load/weight ratio.PKMs have been intensively studied since the 1980s,and are still attracting much attention.Compared with extensive researches focus on their type/dimensional synthesis,kinematic/dynamic analyses,the error modeling and separation issues in PKMs are not studied adequately,which is one of the most important obstacles in its commercial applications widely.Taking a 3-PRS parallel manipulator as an example,this paper presents a separation method of source errors for 3-DOF parallel manipulator into the compensable and non-compensable errors effectively.The kinematic analysis of 3-PRS parallel manipulator leads to its six-dimension Jacobian matrix,which can be mapped into the Jacobian matrix of actuations and constraints,and then the compensable and non-compensable errors can be separated accordingly.The compensable errors can be compensated by the kinematic calibration,while the non-compensable errors may be adjusted by the manufacturing and assembling process.Followed by the influence of the latter,i.e.,the non-compensable errors,on the pose error of the moving platform through the sensitivity analysis with the aid of the Monte-Carlo method,meanwhile,the configurations of the manipulator are sought as the pose errors of the moving platform approaching their maximum.The compensable and non-compensable errors in limited-DOF parallel manipulators can be separated effectively by means of the Jacobian matrix of actuations and constraints,providing designers with an informative guideline to taking proper measures for enhancing the pose accuracy via component tolerancing and/or kinematic calibration,which can lay the foundation for the error distinguishment and compensation.
基金Supported by the National Natural Science Foundation of China(21436009)the Program of Introducing Talents of Discipline to Universities(B06006)
文摘Recent advances on mixed matrix membrane for CO<sub>2</sub> separation are reviewed in this paper. To improve CO<sub>2</sub> separation performance of polymer membranes, mixed matrix membranes (MMMs) are developed. The concept of MMM is illustrated distinctly. Suitable polymer and inorganic or organic fillers for MMMs are summarized. Possible interface morphologies between polymer and filler, and the effect of interface morphologies on gas transport properties of MMMs are summarized. The methods to improve compatibility between polymer and filler are introduced. There are eight methods including silane coupling, Grignard treatment, incorporation of additive, grafting, in situ polymerization, polydopamine coating, particle fusion approach and polymer functionalization. To achieve higher productivity for industrial application, mixed matrix composite membranes are developed. The recent development on hollow fiber and flat mixed matrix composite membrane is reviewed in detail. Last, the future trend of MMM is forecasted.
基金supported by the National Natural Science Foundation of China(Nos.21875285,22171288,22005340)the Key Research and Development Projects of Shandong Province(No.2019JZZY010331)+2 种基金the Natural Science Foundation of Shandong Province(Nos.ZR2020MB017,ZR2022MB009)the Fundamental Research Funds for the Central Universities(No.23CX07004A)the Outstanding Youth Science Fund Projects of Shandong Province(Nos.2022HWYQ-070,ZR2022YQ15).
文摘As an emerging zero-dimensional nano crystalline porous material,porous organic cages(POCs)with soluble properties in organic solvents,are promising candidates as molecular fillers in mixed matrix membranes(MMMs).The pore structure of POCs should be adjusted to trigger efficient gas separation performance,and the interaction between filler and matrix should be optimized.In this work,ionic liquid(IL)was introduced into the molecular fillers of CC3,to construct the IL@CC3/PIM-1 membrane to effectively separate CO_(2) from CH_(4).The advantages of doping IL include:(1)narrowing the cavity size of POCs from 4.4 to 3.9Åto enhance the diffusion selectivity,(2)strengthening the CO_(2) solubility to heighten the gas permeability,and(3)improving the compatibility between filler and matrix to upgrade membrane stability.After the optimization of the membrane composite,the IL@CC3/PIM-1-10%membrane possesses the CO_(2) permeability of 7868 Barrer and the CO_(2)/CH_(4) selectivity of 73.4,which compared to the CC3/PIM-1-10%membrane,improved by 15.9%and 106.2%,respectively.Furthermore,the membrane has maintained a stable separation performance at varied temperatures and pressures during the long-term test.The proposed method offers an efficient way to improve the performance of POCs-based MMMs in gas separation.
