2 results about "Conversion equation" patented technology

A kinematics solving method of a cantilever type crushing device, comprising: establishing a link coordinate system of a three-link robot and a homogeneous transformation matrix of an end effector according to obtained DH parameters, and obtaining robot conversion equation sets according to link lengths of a boom, a stick and the end effector and motion pairs of each part; reading current driving space coordinates from displacement sensors of hydraulic cylinders; calculating current pose space coordinates by using the robot conversion equation sets, the link constraint equation sets and the current driving space coordinates; obtaining target pose space coordinates generated after the crushing device is moved to a target working position on the basis of the current pose space coordinates; and solving target driving space coordinates by using the robot conversion equation sets, the link constraint equation sets, the current and target pose space coordinates. The scheme can improve the control precision and motion rate of the cantilever type crushing device, and make the cantilever type crushing device motion more flexible.

The application provides a cross-scale scaled model test design method for a transient strong nonlinear process, belongs to the technical field of structural impact dynamics model test, and is based on a scale similarity conversion model, introduces similarity conversion coefficients and an uncertainty control index therein, and constructs a scale similarity conversion equation from model test results to prototype responses.Combining self-similarity and scale invariance of the strong nonlinear system, discrete constraint is applied to a scaledown ratio of the cross-scale test, scale levels are defined, three types of cross-scale model conversion, i.e., large-middle-large, large-small and middle-small, can still realize cross-scale similarity conversion of strong impact response time histories such as acceleration and strain under the condition that medium parameters, material parameters and boundaries inevitably distort; and the method is suitable for model test data compensation deduction of prototypes of various strong impact response structures such as explosion impact, collision, drop, throwing into water / into soil and impact vibration.