Abstract: A robot calibration method based on pose constraint and force sensing includes the following steps: establishing a kinematic model, a geometric error model, and a non-geometric error model; installing an end calibration device to an end of a robot, and installing to the geometric constraint device into a working space of the robot; dragging the robot, constraining various calibration spheres of the end calibration device into various V-shaped grooves on the geometric constraint device to achieve pose constraint; then dragging the calibration spheres to V-shaped grooves on different surfaces, and calibrating a geometric parameter error of the robot using a deviation between a nominal end pose measured twice and an actual value; reading an end force by a force sensor to calibrate the non-geometric error model; identifying kinematic model parameters of a corresponding robot; and compensating an identified kinematic model parameter error to a controller of the robot.

Abstract: A low-friction long-life ultra-lattice composite coating as well as a preparation method and use thereof are provided. The ultra-lattice composite coating includes a titanium transition layer, a TiNx bearing layer, a TiNx/MoS2 gradient transition layer, a MoS2/Me gradient transition layer and a MoS2/Me ultra-lattice layer which are successively formed on the surface of a matrix; wherein, in a direction gradually far away from the matrix, the content of MoS2 in the TiNx/MoS2 gradient transition layer is increasing, and the content of MoS2 in the MoS2/Me gradient transition layer is decreasing. The ultra-lattice composite coating has excellent mechanical property and tribological performance, with a vacuum friction coefficient being below 0.02 and a friction life exceeding 4×106 revolutions, which can meet the requirements on ultra-low friction and ultra-long service life for aerospace vehicles.

Abstract: A robot calibration method based on pose constraint and force sensing includes the following steps: establishing a kinematic model, a geometric error model, and a non-geometric error model; installing an end calibration device to an end of a robot, and installing to the geometric constraint device into a working space of the robot; dragging the robot, constraining various calibration spheres of the end calibration device into various V-shaped grooves on the geometric constraint device to achieve pose constraint; then dragging the calibration spheres to V-shaped grooves on different surfaces, and calibrating a geometric parameter error of the robot using a deviation between a nominal end pose measured twice and an actual value; reading an end force by a force sensor to calibrate the non-geometric error model; identifying kinematic model parameters of a corresponding robot; and compensating an identified kinematic model parameter error to a controller of the robot.

Abstract: A method for preparing a fiber composite material toughened by nano-particles, comprising: first dispersing agglomerated nano-particles uniformly in a low-viscosity, volatile dispersant by ultrasonic and micro-jet treatment (two-stage dispersion), and spraying the dispersant containing nano-particles uniformly on the fiber fabric through a high-pressure spray gun; after the liquid is removed from the fiber fabric, subjecting the nano-modified fiber fabric and resin to composite molding. The method provided by the present application is simple to operate, can be scaled up, and does not change the original manufacturing process of the fiber composite material. Moreover, the method provided by the present application requires only a very small amount of toughening components to achieve a significant increase in the interlaminar fracture toughness of the composite, which has great application prospects.

Abstract: A flexible mechanism-based anti-backlash device for a planetary gear train, a gearbox, and a robot joint are provided. The anti-backlash device includes an integrated flexible planet carrier, an adjusting screw and a spring, the integrated flexible planet carrier is provided with a moving platform, the moving platform is provided with a spring hole, and the spring is sleeved outside the screw and is installed in the spring hole; when the threaded connection depth of the adjusting screw and the integrated flexible planet carrier reaches or exceeds a set depth, the adjusting screw can extrude the spring to make the moving platform generate elastic movement along a radial direction of the integrated flexible planet carrier, and the radial elastic movement is transformed into circumferential elastic rotation of a planet carrier bearing hole around the center of the planet carrier through an elastic connector.

Abstract: A Raney copper catalyst, a preparation method and use thereof are provided. The Raney copper catalyst includes aluminum, copper and a metal promoter, wherein the metal promoter comprises a combination of one or more of Ni, Fe, Mo, Co, Ag, Pd, Pt, Au and other elements. The preparation method includes performing high-temperature melting on a mixture containing a copper/aluminum alloy and the metal promoter to obtain a mixed metal cured compound, then smashing the mixed metal cured compound to obtain a catalyst precursor, and subsequently activating to obtain the Raney copper catalyst. The Raney copper catalyst exhibits a capability on hydrogenation reaction based on synergistic effects between metal copper and different promoter metals. Compared with the Raney copper catalyst without metal promoters, when used for preparing 1,3-propanediol through hydrogenation of 3-hydroxypropionaldehyde aqueous solution, the Raney copper catalyst is higher in activity and better in stability.

Abstract: The present application relates to a supercritical fluid injection foaming polylactide foam material and a preparation method therefor. The method includes: first obtaining a surface-modified cellulose nanofiber aqueous solution; then melting and blending the cellulose nanofiber aqueous solution and a polylactide twice; passing same through extrusion, cooling under water, and granulation so as to obtain a polylactide/cellulose nanofiber composite material; then plasticizing and melting the polylactide/cellulose nanofiber composite material in a microporous foaming injection molding machine; uniformly mixing same with a supercritical fluid foaming agent in the injection molding machine; injecting same into a mold cavity; and subjecting the resultant to post-treatment so as to obtain a polylactide foam material.

Abstract: The application provides a fiber composite material reinforced and toughened by long-short carbon nanotubes and preparation method thereof, comprising: a) mixing a short carbon nanotube, a thermoset resin and an additive, to obtain resin matrix slurry; b) pouring the resin matrix slurry into a fiber preform and curing-molding, to obtain the fiber composite material reinforced and toughened by long-short carbon nanotubes; the short carbon nanotube has a length of 0.5-3 ?m and an average length of ?2 ?m; and the long carbon nanotube has a length of 50-1000 ?m. The present disclosure optimizes the spatial layout of long and short carbon nanotubes in the composite material, simultaneously achieving the dual purposes of the intralaminar reinforcement and the interlaminar toughening of the fiber composite material.

Abstract: A hyperbranched boric acid modified phthalonitrile monomer as well as a preparation method and use thereof are provided. The preparation method of the hyperbranched boric acid modified phthalonitrile monomers includes: a reaction in the mixture containing a boron source, a phenol compound, and a solvent to prepare a compound with a B—O structure; and a reaction in the mixture containing the compounds with the B—O structure, 4-nitrophthalonitrile, a catalyst, and a solvent to prepare the hyperbranched boric acid modified phthalonitrile monomers.

Abstract: Disclosed are a method of flying on the moon and a device for flying using the method. A medium on a surface of a moon and a medium accelerating module are used in the flying method. The medium is transferred into the medium accelerating module, accelerated by the medium accelerating module, and ejected out of the medium accelerating module by using a power supply. A counterforce is generated in accordance with the momentum conservation, and the counterforce overcomes the lunar gravity and drives a load to take off. The method is suitable for the environment of the moon where flight by means of atmospheric buoyancy is impossible due to the shortage of atmosphere.

Abstract: A hyperbranched boric acid modified phthalonitrile monomer as well as a preparation method and use thereof are provided. The preparation method of the hyperbranched boric acid modified phthalonitrile monomers includes: a reaction in the mixture containing a boron source, a phenol compound, and a solvent to prepare a compound with a B—O structure; and a reaction in the mixture containing the compounds with the B—O structure, 4-nitrophthalonitrile, a catalyst, and a solvent to prepare the hyperbranched boric acid modified phthalonitrile monomers.

Abstract: The disclosure provides an MAX phase material, a preparation method therefor, and application thereof. The molecular formula of the MAX phase material is represented as Mn+1(AzA?1?z)hXn, wherein M is selected from group IIIB, IVB, VB or VIB elements, A is selected from element Zn, Cu, Ni, Co, Fe or Mn, A? is selected from group IB, IIB, VIII, IVA, VA or VIA elements, X is selected from elements C and/or N, n is 1, 2, 3 or 4, 0<z?1, a unit cell of the MAX phase material is formed by alternately stacking Mn+1Xn units and (AzAzA?1?z)h layers of atoms, and h is the number of layers of the (AzAzA?1?z) layers of atoms located between the Mn+1Xn unit layers, and h is 1, 2 or 3.

Abstract: The present invention provides a supramolecular hot melt adhesive. The present application also provides a method for preparing a supramolecular hot melt adhesive, comprising the steps of: A) dissolving a diol oligomer or diamine oligomer in a solvent, and reacting the mixture with diisocyanate under the action of a catalyst to obtain an initial reactant; B) mixing 2-amino-4-hydroxyl-6-methylpyrimidine, the initial reactant and a solvent for reaction; C) reacting the reactant obtained in step B) with a multifunctional crosslinking agent to obtain the supramolecular hot melt adhesive. The preparation method of the present invention constructs a supramolecular material with excellent strength, toughness and self-healing ability by a synergistic effect of multiple hydrogen bonds between carbamate or ureido group and pyrimidine group.

Abstract: Disclosed are a hybrid dialkylphosphinic acid salt, and a preparation method therefor and an application thereof. The hybrid dialkylphosphinic acid salt is at least one of compounds represented by Formula (I). The hybrid dialkylphosphinic acid salt of Formula (I) provided herein features a low required loading level, high flame retardant efficiency for various polymers, and high economic efficiency. The present invention overcomes the disadvantage of low flame retardant efficiency of diethylphosphinate in polymers as well as high volatility and low flame retardant efficiency for polyesters of diisobutylphosphinate. The hybrid dialkylphosphinate salt of Formula (I) can be widely applied to flame retardant polymers which require high-temperature processing.

Abstract: Disclosed are a hybrid dialkylphosphinate salt, a method for preparing same, and use thereof. The hybrid dialkylphosphinate salt is selected from at least one of the compounds represented by Formula (I). The hybrid dialkylphosphinate salt of Formula (I) provided herein features a low required loading level, high flame retardant efficiency for various polymers, and good thermal stability. The present invention overcomes the disadvantage of low flame retardant efficiency of diethylphosphinate in polymers as well as low thermal stability and large dust of dipropylphosphinate. The hybrid dialkylphosphinate salt of Formula (I) can be widely applied to flame retardant polymers which require high-temperature processing.

Abstract: A cathode material made of cobalt-free layered oxide. A primary particle of the cathode material includes a lithium-poor phase LiaM2-aO2 and a lithium-rich phase Li2M?O3 which are of a layered-like structure. Coordination between these two phases is capable to address an issue of low energy density, low initial coulombic efficiency, and low lithium utilization of conventional cobalt-free layered cathode materials. The novel cobalt-free layered cathode material can be applied to lithium-ion batteries to achieve a low cost and high energy density.

Abstract: The present invention provides a method for preparing a thermoplastic elastomer with excellent resilience and high strength, comprising the steps of: A) adding at least two soft segment monomers into a solvent, and then adding a hard segment monomer to the mixture for reaction under the action of a catalyst to obtain an initial reactant; B) subjecting the initial reactant to react with a chain extending agent to obtain a thermoplastic elastomer. In the thermoplastic elastomer provided by the present application, the multiple hydrogen bonds in the hard segment monomer provide it with high strength and high modulus, and the thermodynamic incompatibility of the soft segment monomers provides it with excellent toughness and high resilience. Therefore, the thermoplastic elastomer provided by the present application has advantages of excellent strength, toughness, rapid resilience and high resilience rate.

Abstract: A flexible mechanism-based anti-backlash device for a planetary gear train, a gearbox, and a robot joint are provided. The anti-backlash device includes an integrated flexible planet carrier, an adjusting screw and a spring, the integrated flexible planet carrier is provided with a moving platform, the moving platform is provided with a spring hole, and the spring is sleeved outside the screw and is installed in the spring hole; when the threaded connection depth of the adjusting screw and the integrated flexible planet carrier reaches or exceeds a set depth, the adjusting screw can extrude the spring to make the moving platform generate elastic movement along a radial direction of the integrated flexible planet carrier, and the radial elastic movement is transformed into circumferential elastic rotation of a planet carrier bearing hole around the center of the planet carrier through an elastic connector.

Abstract: The present disclosure provides a binding agent for graphene film transfer, comprising 5-95 parts by weight of a volatile organic solvent A and 95-5 parts by weight of a volatile organic solvent B. The present disclosure does not use a transition substrate, which greatly reduces the cost, and realizes low-cost transfer. Moreover, the binding agent can be completely volatilized, so that the transferred graphene has no residual glue. The graphene is pure and pollution-free, and a high-quality graphene film can be obtained after the transfer of the graphene. Furthermore, high-quality multi-layer transfer can be achieved and the quality of multi-layer graphene can be guaranteed. Moreover, the graphene can be transferred to any different target substrates.

Abstract: A single-transistor structure, a multi-transistor structure, and an electronic device. The single-transistor structure includes: a substrate; a channel, a source, and a drain, which are located at a same side of the substrate, where the channel has a first end and a second end opposite to each other along an extension direction, the source and the drain are in electrical contact with the first end and the second end, respectively; a gate disposed between the source and the drain, where the gate covers a part of the channel, and an insulating layer is sandwiched between the channel and the gate; and a channel electrode in electrical contact with another part of the channel which is exposed from the gate, the channel electrode and the part of the channel wrapped by the gate overlap partially along the extension direction, and the channel electrode is isolated and insulated from the gate.