A novel 6-degree of freedom (DOF) posture alignment system, based on 3-DOF positioners, is presented for the assembly of aircraft wings. Each positioner is connected with the wing through a rotational and adsorptive h...A novel 6-degree of freedom (DOF) posture alignment system, based on 3-DOF positioners, is presented for the assembly of aircraft wings. Each positioner is connected with the wing through a rotational and adsorptive half-ball shaped end-effector, and the positioners together with the wing are considered as a 3-PPPS (P denotes a prismatic joint and S denotes a spherical joint) redundantly actuated parallel mechanism. The kinematic model of this system is established and a trajectory planning method is introduced. A complete analysis of inverse dynamics is carried out with the Newton-Euler algorithm, which is used to find the desired actuating torque in the design and path planning phase. Simulation analysis of the displacement and actuating torque of each joint of the positioners based on inverse kinematics and dynamics is conducted, and the results show that the system is feasible for the posture alignment of aircraft wings.展开更多
A three-coordinate Ag（I） complex, [Ag（Mepzpy）（PAr3）]BF4·H2O（1, Mepzpy = 3-methyl-1-（2-pyridyl）pyrazole, PAr3 = tri（o-tolyl）phosphine）, was synthesized from the reaction of Ag（CH3CN）4BF4, PAr3 and Me...A three-coordinate Ag（I） complex, [Ag（Mepzpy）（PAr3）]BF4·H2O（1, Mepzpy = 3-methyl-1-（2-pyridyl）pyrazole, PAr3 = tri（o-tolyl）phosphine）, was synthesized from the reaction of Ag（CH3CN）4BF4, PAr3 and Mepzpy in CH3 CN at room temperature. The compound was characterized by UV-vis, NMR and X-ray single-crystal structure analysis. It crystallizes in triclinic space group P1 with a = 10.2251（5）, b = 10.6014（5）, c = 15.7012（5） A, α = 92.963（3）, β = 92.641（3）, γ = 114.647（4）°, V = 1540.6（1）A 3, Z = 2, Mr = 676.24, Dc = 1.458 g/cm3, F（000） = 688, μ = 6.187 mm^-1, GOOF = 1.038, the final R = 0.0530 and wR = 0.1493 for 6371 observed reflections with I 〉 2σ（I）. Compound 1 is ionic. It is composed of a BF4- anion and a [Ag（Mepzpy）（PAr3）]＋ cation. The Ag（I） ion adopts a distorted trigonal pyramidal coordination geometry defined by two nitrogen atoms and a phosphorous atom. The complex emits blue luminescence with maximum peaks at 470 nm in solid state at room temperature.展开更多
文摘A novel 6-degree of freedom (DOF) posture alignment system, based on 3-DOF positioners, is presented for the assembly of aircraft wings. Each positioner is connected with the wing through a rotational and adsorptive half-ball shaped end-effector, and the positioners together with the wing are considered as a 3-PPPS (P denotes a prismatic joint and S denotes a spherical joint) redundantly actuated parallel mechanism. The kinematic model of this system is established and a trajectory planning method is introduced. A complete analysis of inverse dynamics is carried out with the Newton-Euler algorithm, which is used to find the desired actuating torque in the design and path planning phase. Simulation analysis of the displacement and actuating torque of each joint of the positioners based on inverse kinematics and dynamics is conducted, and the results show that the system is feasible for the posture alignment of aircraft wings.
基金supported by the National Natural Science Foundation of China(51172232)
文摘A three-coordinate Ag（I） complex, [Ag（Mepzpy）（PAr3）]BF4·H2O（1, Mepzpy = 3-methyl-1-（2-pyridyl）pyrazole, PAr3 = tri（o-tolyl）phosphine）, was synthesized from the reaction of Ag（CH3CN）4BF4, PAr3 and Mepzpy in CH3 CN at room temperature. The compound was characterized by UV-vis, NMR and X-ray single-crystal structure analysis. It crystallizes in triclinic space group P1 with a = 10.2251（5）, b = 10.6014（5）, c = 15.7012（5） A, α = 92.963（3）, β = 92.641（3）, γ = 114.647（4）°, V = 1540.6（1）A 3, Z = 2, Mr = 676.24, Dc = 1.458 g/cm3, F（000） = 688, μ = 6.187 mm^-1, GOOF = 1.038, the final R = 0.0530 and wR = 0.1493 for 6371 observed reflections with I 〉 2σ（I）. Compound 1 is ionic. It is composed of a BF4- anion and a [Ag（Mepzpy）（PAr3）]＋ cation. The Ag（I） ion adopts a distorted trigonal pyramidal coordination geometry defined by two nitrogen atoms and a phosphorous atom. The complex emits blue luminescence with maximum peaks at 470 nm in solid state at room temperature.
