期刊论文

A New Numerical Solution of Inverse Problem of Kinematics of Industrial Robot

中文

西北工业大学学报

Journal of Northwestern Polytechnical University

1004-0609

1994

12

3

1568-1575

航空科学基金

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...

Vukobratovic et al in 1982 considered it impossible to solve analytically the inverse problem of kinematics of industrial robot [2]. Craig in 1986 was of the opinion that only when the parameters of structure of industrial robot are very special can such an inverse problem be analytically solved if]. In this paper, the author presents a new method of numerical solution that is believed to the able to deal with such an inverse problem.The method of quaternions, known as early as the 19th centry, has but recently found slowy increasing use in kin...