期刊论文

Real Solutions Analysis of the Direct Kinematics for a Parallel Manipulator

中文

东北大学学报. 自然科学版

Journal of Northeastern University(Natural Science)

1005-3026

1999

20

4

359-361

10.3321/j.issn:1005-3026.1999.04.006

国家自然科学基金

本校为其他机构

为了解决耐辐射奇球菌(DR)容易以悬浮态生长,菌体与水的密度差较小,吸附铀后难以分离等问题,首先使用氯化亚砜对羧基化磁性纳米Fe_3O_4粒子进行酰氯功能化,以此作为DR菌固定载体,再与二乙烯三胺化学修饰的DR菌进行固定化,得到一种新型功能化磁性耐辐射奇球菌吸附剂NFGDR,并通过红外光谱仪和扫描电镜分别表征吸附剂NFGDR的结构。考察溶液pH值、吸附时间、铀初始浓度和吸附剂投加量等因素对吸附剂NFGDR吸附铀的影响,对吸附动力学模型和吸附等温模型进行分析。结果表明:吸附剂NFGDR表面具有大量吸附铀的基团,吸附铀后表面形态发生变化;吸附铀的最佳条件是pH值为5、吸附时间为80 min、铀初始浓度为1...

The most real solutions number of the direct displacement of kinematics for 3-6 parallel manipulator was further studied in term of its analysis solutions. The direct displacement problem can be changed into solving a polynomial equation called the equivalent polynomial equation. The most real solutions number of direct displacement of kinematics is the real solutions number of the equivalent polynomial equation whose independent variable belongs to solution interval. Finally, Sturm theorem was applied to determinate the mo...