New PDF release: Advances in Mechanical and Electronic Engineering: Volume 1
By Lihui Jin, Yutian Wang, Guorui Wang (auth.), David Jin, Sally Lin (eds.)
This ebook contains the quantity 1 of the lawsuits of the 2012 overseas convention on Mechanical and digital Engineering(ICMEE2012), held at June 23-24,2012 in Hefei, China. The convention supplied an extraordinary chance to assemble world wide researchers who're operating within the fields. This quantity 1 is targeting Mechanical Engineering and Automation in addition to automobile Engineering and expertise.
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Additional info for Advances in Mechanical and Electronic Engineering: Volume 1
Sun cause the movement of connecting rod. Use the link between homogeneous transformation matrixes (Ai) established the robot's kinematics equations (T). J6 J4 X4 Z6 X5 X6 Y6 J5 Y4 Z5 Y5 Z4 O 4 , O5 , O 6 X3 a3 Y3 O3 Z3 d4 X2 J3 a2 Y2 O2 J1 Z2 Z 0 , Z1 Y0 J2 X 0 X1 a1 O 0 , O1 Y1 Fig. 1. 6-DOF of robot's connecting rod coordinate system T = A1 A2 A3 A4 A5 A6 (1) Ai = Trans(ai −1 ,0,0) Rot ( X i −1 , α i −1 )Trans(0,0, d i ) Rot ( Z i , θ i ) cθ i sθ cα = i i −1 sθ i sα i −1 0 − sθ i 0 cθ i cα i −1 cθ i sα i −1 − sα i −1 cα i −1 0 0 ai −1 − d i sα i −1 d i cα i −1 1 (2) In equation (2) : c representative cos functions; s representative sin function.
Sun Conclusion With the MATLAB tools we can conduct simulation modeling of robot, which realizes the robot's PTP smooth movement, and we can use the slider interface to arbitrarily control of the robot joints change, which visually express that the position and pose of the whole movement process, the information improves the spatial trajectory planning maneuverability and visibility. With help of matlab we can draw robot joint's curve of position, velocity, acceleration and robot joint's curve of position, velocity, and acceleration with parabolic transition linear interpolation.
1 Introduction Organizational slack is potentially utilizable resources that can be diverted or redeployed for the achievement of organization goals . At present, more and more scholars focus on the relationship between organizational slack and performance. However, the existing literature provides no compelling answers regarding whether slack resources facilitates or inhibits performance . What is the relationship between organizational slack and performance? Based on prior findings, the slackperformance relationship is generally conceptualized as linear, nonlinear relationship [1-4].
Advances in Mechanical and Electronic Engineering: Volume 1 by Lihui Jin, Yutian Wang, Guorui Wang (auth.), David Jin, Sally Lin (eds.)