1-(9-Anthryl)ethyl methacrylate (9AEMA) was prepared by condensation of 149-anthrylkthanol with methacryloyl chloride. The rate of AIBN initiated polymerization of 9AEMA in benzene at 60°C was intermediate between the polymerization rates of styrene and methyl methacrylate. 9AEMA/styrene copolymerization studies at 60°C resulted in the copolymerization parameters r9AEhf.4 = 0,42 +0,07 and rs, = 0,37 f 0,023. Charge transfer complexes are formed between p-chloranil and the 9AEMA homoand copolymers. The absorption maxima of the CT-complexes shifted to higher wavelengths with increasing 9AEMA content of the copolymers, whereas the equilibrium constant of the CT-complex formation was independent of copolymer composition. Both the complex formation enthalpies and entropies decreased with increasing 9AEMA content of the copolymers.
Usually, a humanoid robot using motors has low resonances due to the timing belts at each joint, and the low resonances may deteriorate the response performance and posi tioning precision. In this paper, a joint of humanoid robot which links the motor side to the load side via timing belt is studied.Regarding this system as a two-inertia system, this paper proposes a novel control method which uses multiple motors in both the motor side and the load side for multi-input-single-output (MISO) system. The proposed method achieves vibration suppression and phase stabilization simultaneously. The implementation is relatively simple since there are only two parameters required in the design. Simulations and experimental results also demonstrate the effectiveness of the proposed control system.
Usually, a belt driving system has low resonance because of the elasticity of the timing belts, and the low resonance may degrade the response performance and positioning precision. This paper presents a robot joint that links the motor side to the load side via a timing belt. This can be regarded as a two-inertia system. This paper proposes a novel control method that uses multiple motors on both the motor side and load side of a MISO system. The proposed method achieves vibration suppression and phase stabilization simultaneously. The implementation is relatively simple because the design only requires two parameters. Simulations and experiments were performed to demonstrate the effectiveness of the proposed control system.
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