2019 Vol. 34, No. 4
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2019, 34(4)
:1-7.
doi: 10.3969/j.issn.2096-1553.2019.04.001
Abstract:
The effects of pyrroloquinoline quinone (PQQ) at different mass concentrations (4 μg/mL, 8 μg/mL, 12 μg/mL and 16 μg/mL) on the germination process of cress seeds were studied. The results showed that the germination rate, the germination potential, the germination index and the respiration rate of cress seeds increased with PQQ's concentration. The PQQ had the best seed soaking effect when the concentration was 16 μg/mL. The PQQ could promote the germination of cress seeds. The PQQ had little effect on the amylase activity in cress seeds, and it had a significant enhancement effect on lipase and peroxidase enzyme activities.
The effects of pyrroloquinoline quinone (PQQ) at different mass concentrations (4 μg/mL, 8 μg/mL, 12 μg/mL and 16 μg/mL) on the germination process of cress seeds were studied. The results showed that the germination rate, the germination potential, the germination index and the respiration rate of cress seeds increased with PQQ's concentration. The PQQ had the best seed soaking effect when the concentration was 16 μg/mL. The PQQ could promote the germination of cress seeds. The PQQ had little effect on the amylase activity in cress seeds, and it had a significant enhancement effect on lipase and peroxidase enzyme activities.
2019, 34(4)
:8-14.
doi: 10.3969/j.issn.2096-1553.2019.04.002
Abstract:
The orthogonal experimental design method was used, the live bacteria count of lactic acid bacteria was taken as an indicator to investigate the effects of Streptococcus lactis inoculation amount, Lactobacillus acidophilus inoculation amount, jerusalem artichoke addition, sweetener addition, salt addition and fermentation temperature on the changes of live bacteria count in the production of lactic acid bacteria fermented tomato sauce. The production process of high-activity lactic acid bacteria fermented tomato sauce was optimized. The results showed that the combined fermentation of Streptococcus lactis and Lactobacillus acidophilus was beneficial to increase the live bacteria count of lactic acid bacteria in fermented tomato sauce. Appropriate addition of jerusalem artichoke was beneficial to the proliferation of lactic acid bacteria, and the use of sweeteners and salts had little effect on the proliferation of lactic acid bacteria; When the fermentation temperature was above 30℃, it was beneficial to the proliferation of lactic acid bacteria. The suitable production conditions for high-activity lactic acid bacteria fermented tomato sauce were Streptococcus lactis inoculation amount 1.0%~2.0%, Lactobacillus acidophilus inoculation amount 2.0%, jerusalem artichoke addition 15%~20%, fermentation temperature 30℃. The optimum storage period of the highly active lactic acid bacteria fermented tomato sauce (the live bacteria count of lactic acid bacteria kept at 109 CFU/mL) prepared under these conditions was 30 days.
The orthogonal experimental design method was used, the live bacteria count of lactic acid bacteria was taken as an indicator to investigate the effects of Streptococcus lactis inoculation amount, Lactobacillus acidophilus inoculation amount, jerusalem artichoke addition, sweetener addition, salt addition and fermentation temperature on the changes of live bacteria count in the production of lactic acid bacteria fermented tomato sauce. The production process of high-activity lactic acid bacteria fermented tomato sauce was optimized. The results showed that the combined fermentation of Streptococcus lactis and Lactobacillus acidophilus was beneficial to increase the live bacteria count of lactic acid bacteria in fermented tomato sauce. Appropriate addition of jerusalem artichoke was beneficial to the proliferation of lactic acid bacteria, and the use of sweeteners and salts had little effect on the proliferation of lactic acid bacteria; When the fermentation temperature was above 30℃, it was beneficial to the proliferation of lactic acid bacteria. The suitable production conditions for high-activity lactic acid bacteria fermented tomato sauce were Streptococcus lactis inoculation amount 1.0%~2.0%, Lactobacillus acidophilus inoculation amount 2.0%, jerusalem artichoke addition 15%~20%, fermentation temperature 30℃. The optimum storage period of the highly active lactic acid bacteria fermented tomato sauce (the live bacteria count of lactic acid bacteria kept at 109 CFU/mL) prepared under these conditions was 30 days.
2019, 34(4)
:15-20.
doi: 10.3969/j.issn.2096-1553.2019.04.003
Abstract:
With chickpea as material,two Bacillus subtilisnatto strains (F-2-4 and S-15) isolated from different sources were selected and were inoculated into chickpea to prepare chickpea natto products by single-inoculation and co-inoculation,then nattokinase activity of chickpea natto was determined.Results showed that nattokinase activity was improved significantly by co-inoculation.When the inoculative volume ratio of F-2-4 and S-15 was 1:1,and inoculation amount was 4%,the nattokinase activity of chickpea natto reached the maximum 6 287.16 UI/g.
With chickpea as material,two Bacillus subtilisnatto strains (F-2-4 and S-15) isolated from different sources were selected and were inoculated into chickpea to prepare chickpea natto products by single-inoculation and co-inoculation,then nattokinase activity of chickpea natto was determined.Results showed that nattokinase activity was improved significantly by co-inoculation.When the inoculative volume ratio of F-2-4 and S-15 was 1:1,and inoculation amount was 4%,the nattokinase activity of chickpea natto reached the maximum 6 287.16 UI/g.
2019, 34(4)
:21-29.
doi: 10.3969/j.issn.2096-1553.2019.04.004
Abstract:
The diversity and structure of fungal and bacterial communities in Qupi and Quxin of medium temperature Daqu from one wine corporation located in He'nan were analyzed based on the high-throughput sequencing technology.The results showed that:1) The diversity and abundance of fungal community in Qupi were higher than those in Quxin samples,and Ascomycetes was the only dominant fungi detected both in Qupi and Quxin.A total of 15 species of fungi was detected in Daqu,of which Saccharomycopsis fibuligera,Eurotium niveoglaucum,Pichia sp1 were the dominant fungi in Qupi and Quxin samples.Among them,the content of Saccharomvcopsis fibuligera in Qupi was similar to that in Quxin,however,the contents of Eurotium niveoglaucum and Pichia sp1 in Qupi and Quxin samples were quite different.2) The diversity of bacterial community in Quxin of medium temperature Daqu was higher than that of Qupi,but its abundance was lower than that of Qupi.A total of 28 genera was detected in the Qupi and Quxin samples,of which Enterobacter,Lactobacillus,Lactococcus,Brucella,Enterococcus and Erwinia were dominant bacteria of Daqu samples.Expect for Brucella,the content of other dominant bacteria had a large difference in Qupi and Quxin.
The diversity and structure of fungal and bacterial communities in Qupi and Quxin of medium temperature Daqu from one wine corporation located in He'nan were analyzed based on the high-throughput sequencing technology.The results showed that:1) The diversity and abundance of fungal community in Qupi were higher than those in Quxin samples,and Ascomycetes was the only dominant fungi detected both in Qupi and Quxin.A total of 15 species of fungi was detected in Daqu,of which Saccharomycopsis fibuligera,Eurotium niveoglaucum,Pichia sp1 were the dominant fungi in Qupi and Quxin samples.Among them,the content of Saccharomvcopsis fibuligera in Qupi was similar to that in Quxin,however,the contents of Eurotium niveoglaucum and Pichia sp1 in Qupi and Quxin samples were quite different.2) The diversity of bacterial community in Quxin of medium temperature Daqu was higher than that of Qupi,but its abundance was lower than that of Qupi.A total of 28 genera was detected in the Qupi and Quxin samples,of which Enterobacter,Lactobacillus,Lactococcus,Brucella,Enterococcus and Erwinia were dominant bacteria of Daqu samples.Expect for Brucella,the content of other dominant bacteria had a large difference in Qupi and Quxin.
2019, 34(4)
:30-36.
doi: 10.3969/j.issn.2096-1553.2019.04.005
Abstract:
The characteristics and the diversity of rhizobia symbiosis on the three main leguminous green manure crops (Astragalus sinicus, Trifolium repens and Vicia sativa) were summarized. It was pointed out that the three kinds of leguminous green manure crops had strong ability of nitrogen fixation, could improve the fertility and soil structure. The symbiosis of rhizobia had a strong diversity, inoculating matched strains of highly effective rhizobia in different regions could achieve an ideal effect of increasing yield and fixing nitrogen. In the future, the selection and breeding of rhizobia strains suitable for different regions should be strengthened, protective agents such as glycerin and trehalose should be added, rhizobia agents with different dosage forms should be prepared, and research on their field production and application should be carried out, so as to better play the role of green fertilizer in the development of modern green agriculture.
The characteristics and the diversity of rhizobia symbiosis on the three main leguminous green manure crops (Astragalus sinicus, Trifolium repens and Vicia sativa) were summarized. It was pointed out that the three kinds of leguminous green manure crops had strong ability of nitrogen fixation, could improve the fertility and soil structure. The symbiosis of rhizobia had a strong diversity, inoculating matched strains of highly effective rhizobia in different regions could achieve an ideal effect of increasing yield and fixing nitrogen. In the future, the selection and breeding of rhizobia strains suitable for different regions should be strengthened, protective agents such as glycerin and trehalose should be added, rhizobia agents with different dosage forms should be prepared, and research on their field production and application should be carried out, so as to better play the role of green fertilizer in the development of modern green agriculture.
2019, 34(4)
:37-42.
doi: 10.3969/j.issn.2096-1553.2019.04.006
Abstract:
Choosing ceramide as a moisturizer, using 165 monoglyceride and MONTANOV 68 as a composite emulsifier and S-305 as a co-emulsifier, a moisturizing cream with high moisturizing effect was prepared. The amount and proportion of the emulsifier in the emulsion system were selected by orthogonal test, and the stability and using effect of the moisturizing cream were evaluated. The results showed that when the dosage of composite emulsifier was 5%, the mass ratio of 165 monoglyceride to MONTANOV 68 was 2:1, and the mass fraction of S-305 was 0.6%, the obtained moisturizing cream had the best stability; In the environment of constant temperature and humidity, when the amount of ceramide added was 2.5%, the moisturizing cream had a good moisturizing effect. After 15 minutes of application, the skin moisture growth rate was 74.47%, and the skin moisture growth rate remained above 50% in 120 minutes. Compared with the two products sold in the market, the moisturizing cream which made from the best formula selected by this method had a good effect in terms of absorption effect, spreadability, moisturizing effect, and delicate feeling, and the overall evaluation effect was consistent with the commercially available product.
Choosing ceramide as a moisturizer, using 165 monoglyceride and MONTANOV 68 as a composite emulsifier and S-305 as a co-emulsifier, a moisturizing cream with high moisturizing effect was prepared. The amount and proportion of the emulsifier in the emulsion system were selected by orthogonal test, and the stability and using effect of the moisturizing cream were evaluated. The results showed that when the dosage of composite emulsifier was 5%, the mass ratio of 165 monoglyceride to MONTANOV 68 was 2:1, and the mass fraction of S-305 was 0.6%, the obtained moisturizing cream had the best stability; In the environment of constant temperature and humidity, when the amount of ceramide added was 2.5%, the moisturizing cream had a good moisturizing effect. After 15 minutes of application, the skin moisture growth rate was 74.47%, and the skin moisture growth rate remained above 50% in 120 minutes. Compared with the two products sold in the market, the moisturizing cream which made from the best formula selected by this method had a good effect in terms of absorption effect, spreadability, moisturizing effect, and delicate feeling, and the overall evaluation effect was consistent with the commercially available product.
2019, 34(4)
:43-51.
doi: 10.3969/j.issn.2096-1553.2019.04.007
Abstract:
Through two-step emulsification method,the multiple emulsions were firstly prepared with paraffin as internal oil phase,Tween-80 as hydrophilic emulsifier and gelatin as thickener,and then were used to encapsulate Vitamin C.The effect of various parameters on the stability of multiple emulsions was investigated by determining the volume changes after centrifugation and the encapsulation changes of Vitamin C during two weeks.These factors included the species and amount of emulsifier,the dosage ratio of two phases,emulsion temperature,homogenization speed and the dosage of polymer,three of which were most influential.The optimal formula and preparation process were obtained through orthogonal experiment,that was,Tween-80 and P135 as foreign and internal emulsifiers,respectively,the mass ratio of Tween-80 was 2%, the dosage of external phase was 1.0, and the emulsification temperature was 45℃,homogeneous speed was 2000 r/min,gelatin dosage was 0.5%.Under this condition, the relative volume ratio of multiple emulsions was 0.966 4, the performance was stable, and the encapsulation rate of Vitamin C could reach 98%,and the multiple emulsions had a satisfactory package stability.
Through two-step emulsification method,the multiple emulsions were firstly prepared with paraffin as internal oil phase,Tween-80 as hydrophilic emulsifier and gelatin as thickener,and then were used to encapsulate Vitamin C.The effect of various parameters on the stability of multiple emulsions was investigated by determining the volume changes after centrifugation and the encapsulation changes of Vitamin C during two weeks.These factors included the species and amount of emulsifier,the dosage ratio of two phases,emulsion temperature,homogenization speed and the dosage of polymer,three of which were most influential.The optimal formula and preparation process were obtained through orthogonal experiment,that was,Tween-80 and P135 as foreign and internal emulsifiers,respectively,the mass ratio of Tween-80 was 2%, the dosage of external phase was 1.0, and the emulsification temperature was 45℃,homogeneous speed was 2000 r/min,gelatin dosage was 0.5%.Under this condition, the relative volume ratio of multiple emulsions was 0.966 4, the performance was stable, and the encapsulation rate of Vitamin C could reach 98%,and the multiple emulsions had a satisfactory package stability.
2019, 34(4)
:52-58.
doi: 10.3969/j.issn.2096-1553.2019.04.008
Abstract:
The anionic surfactant Sodium laureth sulfate (AES) flocculation experiments were carried out by using Cation guar gum (C-14S),Cation Polyquaternium-10 (LR400),Polyquaternium-7 (M550),respectively,and the content of AES and cation species were determined by these flocculation results.The category of silicone oil (E6518,E6550,E6518 and E6550) was performed by carding test of hair bundles with multifunctional hair instrument (MTT175).The optimal formula of shampoo was obtained as follows:AES(17.14%),C-14S(0.2%),LR400(0.2%),E6518(1.5%),E6550(0.5%),CAB(1.5%),SF(3%),and deionized water (up to 100%).Through the carding and friction force test,it was found that shampoo formula was stability,showing greater resilience and stronger hair quality after shampoo.Meanwhile,the hair dryness and fork after perm and dyeing could be also solved.
The anionic surfactant Sodium laureth sulfate (AES) flocculation experiments were carried out by using Cation guar gum (C-14S),Cation Polyquaternium-10 (LR400),Polyquaternium-7 (M550),respectively,and the content of AES and cation species were determined by these flocculation results.The category of silicone oil (E6518,E6550,E6518 and E6550) was performed by carding test of hair bundles with multifunctional hair instrument (MTT175).The optimal formula of shampoo was obtained as follows:AES(17.14%),C-14S(0.2%),LR400(0.2%),E6518(1.5%),E6550(0.5%),CAB(1.5%),SF(3%),and deionized water (up to 100%).Through the carding and friction force test,it was found that shampoo formula was stability,showing greater resilience and stronger hair quality after shampoo.Meanwhile,the hair dryness and fork after perm and dyeing could be also solved.
2019, 34(4)
:59-63.
doi: 10.3969/j.issn.2096-1553.2019.04.009
Abstract:
An electrochemical NO2 gas sensor was fabricated by using high temperature co-fired ceramic (HTCC) process with zirconia ceramics, conductive metal paste and room temperature ionic liquid as the main raw materials.The electrochemical performance of the sensor electrode and the output and response characteristics of the sensor were studied. The results showed that the room temperature ionic liquid 1-butyl-3-methylimidazolium bis-trifluoromethylsulfonyl imide salt used in the experiment was suitable as the electrolyte of the electrochemical NO2 gas sensor, and the suitable working voltage was 1.2 V; when the detection range of the sensor was 0~0.010% (volume fraction), and the accuracy was 1.5% FS. The response time (τ90) of the sensor was 25 s, which was superior to the traditional chamber electrochemical gas sensor.
An electrochemical NO2 gas sensor was fabricated by using high temperature co-fired ceramic (HTCC) process with zirconia ceramics, conductive metal paste and room temperature ionic liquid as the main raw materials.The electrochemical performance of the sensor electrode and the output and response characteristics of the sensor were studied. The results showed that the room temperature ionic liquid 1-butyl-3-methylimidazolium bis-trifluoromethylsulfonyl imide salt used in the experiment was suitable as the electrolyte of the electrochemical NO2 gas sensor, and the suitable working voltage was 1.2 V; when the detection range of the sensor was 0~0.010% (volume fraction), and the accuracy was 1.5% FS. The response time (τ90) of the sensor was 25 s, which was superior to the traditional chamber electrochemical gas sensor.
2019, 34(4)
:64-73,108.
doi: 10.3969/j.issn.2096-1553.2019.04.010
Abstract:
The different dose CaO2 was added into the waste activated sludge anaerobic fermentation system which studied the effect of CaO2 on the WAS anaerobic fermentation performance.The results showed that CaO2 could enhance the WAS solubilization and sludge decomposition,and increase the WAS hydrolysis performance,the mass concentration of protein and polysaccharide increased with the CaO2 addition.At the same time,appropriate concentration of CaO2 could promote sludge anaerobic fermentation to produce acid and it was delayed,and also could promote the activity of protease,α-glucosidase and dehydrogenase,but suppressed alkaline phosphatase and acid phosphatase.The release amount of NH4+-N increased first then declined with the increase of CaO2 addition,but the release amount of PO43--P declined with the increase of CaO2 addition.From the analysis of mechanism perspective,CaO2 dissolved in water to form strong oxidizing substances such as OH-, O2-, H2O2, which could effectively destroy the microbial cell wall and strengthen the hydrolysis of sludge. The alkaline environment formed by OH- inhibited the activity of methanogens and reduced the consumption of SCFAs, a struvite precipitate was formed by the action of OH- and Ca2+ with NH4+-N and PO43--P in the fermentation system, which was beneficial to the effective recovery of nitrogen and phosphorus substances.
The different dose CaO2 was added into the waste activated sludge anaerobic fermentation system which studied the effect of CaO2 on the WAS anaerobic fermentation performance.The results showed that CaO2 could enhance the WAS solubilization and sludge decomposition,and increase the WAS hydrolysis performance,the mass concentration of protein and polysaccharide increased with the CaO2 addition.At the same time,appropriate concentration of CaO2 could promote sludge anaerobic fermentation to produce acid and it was delayed,and also could promote the activity of protease,α-glucosidase and dehydrogenase,but suppressed alkaline phosphatase and acid phosphatase.The release amount of NH4+-N increased first then declined with the increase of CaO2 addition,but the release amount of PO43--P declined with the increase of CaO2 addition.From the analysis of mechanism perspective,CaO2 dissolved in water to form strong oxidizing substances such as OH-, O2-, H2O2, which could effectively destroy the microbial cell wall and strengthen the hydrolysis of sludge. The alkaline environment formed by OH- inhibited the activity of methanogens and reduced the consumption of SCFAs, a struvite precipitate was formed by the action of OH- and Ca2+ with NH4+-N and PO43--P in the fermentation system, which was beneficial to the effective recovery of nitrogen and phosphorus substances.
2019, 34(4)
:74-80.
doi: 10.3969/j.issn.2096-1553.2019.04.011
Abstract:
In view of the fact that the existing path planning methods of AGV are unable to solve the problem of dispatching task and deadlock, a new path conflict processing method named GWM was proposed to solve more complex path conflict problems. However, GWM was not efficient in some conflict scenarios. On this basis, a GWM-based path conflict processing algorithm named OCWG was proposed. This algorithm combined three path processing methods:waiting method, rerouting method and GWM. When the AGV position was refreshed, it detected whether it would conflict with other AGVs in the safe distance, and chose an appropriate path conflict processing method according to the real-time system state. The test results showed that OCWG algorithm took less time and satisfied all the requirements including repetitive tasks and dispatching tasks, without triggering collision warning and deadlock problems.
In view of the fact that the existing path planning methods of AGV are unable to solve the problem of dispatching task and deadlock, a new path conflict processing method named GWM was proposed to solve more complex path conflict problems. However, GWM was not efficient in some conflict scenarios. On this basis, a GWM-based path conflict processing algorithm named OCWG was proposed. This algorithm combined three path processing methods:waiting method, rerouting method and GWM. When the AGV position was refreshed, it detected whether it would conflict with other AGVs in the safe distance, and chose an appropriate path conflict processing method according to the real-time system state. The test results showed that OCWG algorithm took less time and satisfied all the requirements including repetitive tasks and dispatching tasks, without triggering collision warning and deadlock problems.
2019, 34(4)
:81-86.
doi: 10.3969/j.issn.2096-1553.2019.04.012
Abstract:
Aiming at the problem that SOC of lithium ion batteries is easy to fall into local optimum by single BP neural network, ant colony algorithm was introduced and combined with BP neural network model,and an improved ACO-BP neural network was proposed to estimate battery SOC.Inertia correction algorithm was used to add inertia amount when correcting the weight threshold to improve BP neural network. ACO algorithm was improved using the improved global pheromone updating rules to solve the problem of premature convergence.The improved ACO-BP neural network was applied to estimate SOC of 18650 lithiumion power battery. The results showed that the relative error of the improved ACO-BP neural network in estimating SOC could be controlled within ±1.957% and the MAPE was 0.897%. The accuracy and stability of the improved ACO-BP neural network were obviously better than those of single BP neural network and ACO-BP neural network.
Aiming at the problem that SOC of lithium ion batteries is easy to fall into local optimum by single BP neural network, ant colony algorithm was introduced and combined with BP neural network model,and an improved ACO-BP neural network was proposed to estimate battery SOC.Inertia correction algorithm was used to add inertia amount when correcting the weight threshold to improve BP neural network. ACO algorithm was improved using the improved global pheromone updating rules to solve the problem of premature convergence.The improved ACO-BP neural network was applied to estimate SOC of 18650 lithiumion power battery. The results showed that the relative error of the improved ACO-BP neural network in estimating SOC could be controlled within ±1.957% and the MAPE was 0.897%. The accuracy and stability of the improved ACO-BP neural network were obviously better than those of single BP neural network and ACO-BP neural network.
2019, 34(4)
:87-95.
doi: 10.3969/j.issn.2096-1553.2019.04.013
Abstract:
Aimed at the problem that the single-vector control current tracking accuracy of three-phase four-switch (TPFS) converter was not enough, which will lead to the total harmonic distortion (THD), a TPFS fault-tolerant converter modulation model predictive control strategy was proposed in αβ stationary coordinate system. This strategy established the current prediction model under a-phase fault in αβ stationary coordinate system based on the operating mechanism of TPFS fault-tolerant converter. The four voltage vectors of TPFS fault-tolerant converter were combined with each other,and the action time of each voltage vector was calculated by the modulation model prediction principle to reduce the calculation amount. Two voltage vectors were selected and used in each control period to reduce the current ripple. Simulation and experimental results showed that the feasibility and effectiveness of the proposed strategy.The tracking accuracy of the TPFS fault-tolerant converter was improved, the current harmonics were reduced, and the TPFS fault-tolerant converter was guaranteed to continue to operate.
Aimed at the problem that the single-vector control current tracking accuracy of three-phase four-switch (TPFS) converter was not enough, which will lead to the total harmonic distortion (THD), a TPFS fault-tolerant converter modulation model predictive control strategy was proposed in αβ stationary coordinate system. This strategy established the current prediction model under a-phase fault in αβ stationary coordinate system based on the operating mechanism of TPFS fault-tolerant converter. The four voltage vectors of TPFS fault-tolerant converter were combined with each other,and the action time of each voltage vector was calculated by the modulation model prediction principle to reduce the calculation amount. Two voltage vectors were selected and used in each control period to reduce the current ripple. Simulation and experimental results showed that the feasibility and effectiveness of the proposed strategy.The tracking accuracy of the TPFS fault-tolerant converter was improved, the current harmonics were reduced, and the TPFS fault-tolerant converter was guaranteed to continue to operate.
2019, 34(4)
:96-101.
doi: 10.3969/j.issn.2096-1553.2019.04.014
Abstract:
A new walking riveting robot integrating hole making and riveting based on 6-SPU six degrees of freedom parallel mechanism was analyzed statically.On the basis of inverse position modeling and solution, the correct position of riveting hole of riveting gun was determined according to robot riveting trajectory planning.For aircraft large thin-walled cylindrical workpiece, the finite element analysis software was used to simulate the robot riveting operation,and the maximum deformation of the moving platform and the maximum equivalent stress of the mechanism were obtained. The simulation results showed that the maximum deformation of the robot was 51.847×10-7 m, which was within the allowable error range of aircraft riveting hole making, and the maximum equivalent stress of the mechanism was 2.698 MPa, which was far less than the material yield limit, which could meet the requirements of precision and strength of riveting hole operation.
A new walking riveting robot integrating hole making and riveting based on 6-SPU six degrees of freedom parallel mechanism was analyzed statically.On the basis of inverse position modeling and solution, the correct position of riveting hole of riveting gun was determined according to robot riveting trajectory planning.For aircraft large thin-walled cylindrical workpiece, the finite element analysis software was used to simulate the robot riveting operation,and the maximum deformation of the moving platform and the maximum equivalent stress of the mechanism were obtained. The simulation results showed that the maximum deformation of the robot was 51.847×10-7 m, which was within the allowable error range of aircraft riveting hole making, and the maximum equivalent stress of the mechanism was 2.698 MPa, which was far less than the material yield limit, which could meet the requirements of precision and strength of riveting hole operation.
2019, 34(4)
:102-108.
doi: 10.3969/j.issn.2096-1553.2019.04.015
Abstract:
Taking the double-robot cooperation system as the research object, the kinematics positive solution was obtained according to its D-H parameter. Based on Matlab, the Monte Carlo method was used to solve the common area of the double-robot workspace, and the extreme value theory and search area method were used to the common area boundary. By extracting the curve, the boundary surface and the extreme position of the dual robot cooperation space could be determined. The simulation results showed that the method had the advantages of easy implementation and intuitive spatial expression, and could be applied to any dual-arm robots with other structural forms and arbitrary degrees of freedom to solve similar problems.
Taking the double-robot cooperation system as the research object, the kinematics positive solution was obtained according to its D-H parameter. Based on Matlab, the Monte Carlo method was used to solve the common area of the double-robot workspace, and the extreme value theory and search area method were used to the common area boundary. By extracting the curve, the boundary surface and the extreme position of the dual robot cooperation space could be determined. The simulation results showed that the method had the advantages of easy implementation and intuitive spatial expression, and could be applied to any dual-arm robots with other structural forms and arbitrary degrees of freedom to solve similar problems.
Journal Information
Founded in 1986， bimonthly
Administered by：The Education Department Henan Province
Sponsored by：Zhengzhou University of Light Industry
Editor-in-chief：Wei Shizhong
Executive Editor-in-Chief：Zou Lin
Deputy Editor-in-Chief：Qu Shuanghong
Edited & published by：Editorial Department of Journal of Light Industry
CN 41-1437/TS
ISSN 2096-1553
Address：136 Science Avenue, Zhengzhou City, Henan Province, China
Postal Code：450001
Tel：(086)0371-86608635
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