并联机器人的积分滑模模糊控制

根据并联机器人液压伺服系统的特点,将积分变结构控制理论应用于并联机器人的轨迹跟踪。在滑模控制中引入跟踪误差积分控制项,提高了跟踪精度,且消除了要求被跟踪信号导数已知的假设；同时,基于模糊控制理论,对切换控制量进行模糊化处理,有效地削弱了滑模切换控制所产生的抖动。研究和实践表明：该控制方法对于并联机器人轨迹跟踪具有良好的控制效果。     

Analysis of arc physical property of pulsed tungsten inert gas welding based on Fowler-Milne method

Pulsed tungsten inert gas (TIG) welding is widely used in industry due to its superior properties, so the measurement of arc temperature is important to analyse welding process. Arc image of spectral line in 794.8 nm is captured by high speed camera; both the Abel inversion and the Fowler-Milne method are used to calculate the temperature distribution of the pulsed TIG welding. Characteristic of transient variation in arc intensity and temperature is analyzed. When the change of current happens, intensity and temperature of arc jump as well, it costs several milliseconds. The further the axial position from the tungsten is, the greater the intensity jumps, and the smaller the temperature changes.     

InN(0001)表面结构的第一原理研究

本文利用第一原理方法研究了生长环境和表面极性对InN(0001)面的表面形态的影响。计算结果表明,在(0001)面,富In的环境下吸附两层In为最稳定的表面结构,而富N的环境下N吸附不存在能量稳定再构。     

电液集成技术在注塑机上的应用

文章介绍了电液集成技术的基本元件:电液管,液管,液阻。并介绍了该技术在注塑机上的应用。     

计算机计算平面度误差的几种方法

介绍了计算机处理平面度误差的几种方法。并针对被测实际表面,提出了最佳平方逼近方法。