Abstract: The present application provides a kinematics modeling method, apparatus and device for a multi-degree-of-freedom mechanism and a storage medium. The method includes: constructing a point coordinate system, and constructing the transformation matrix; constructing transformation matrices of two rotating axes and the transformation matrix; constructing the forward kinematics model based on the transformation matrices of the point coordinate system, the two rotating axes and the workpiece coordinate system; solving the motor value of the rotating axis through the rotation matrix of the end-effector, using the translation matrix of the end-effector as a non-homogeneous linear equation set, solving the motor value of linear axis.

Abstract: The present application provides a kinematics modeling method, apparatus and device for a multi-degree-of-freedom mechanism and a storage medium. The method includes: constructing a point coordinate system, and constructing the transformation matrix; constructing transformation matrices of two rotating axes and the transformation matrix; constructing the forward kinematics model based on the transformation matrices of the point coordinate system, the two rotating axes and the workpiece coordinate system; solving the motor value of the rotating axis through the rotation matrix of the end-effector, using the translation matrix of the end-effector as a non-homogeneous linear equation set, solving the motor value of linear axis.

Abstract: Disclosed are a kinematics parameter calibration method and system of a multi-axis motion platform. The method comprises the following steps of: collecting calibration board images in different spatial positions according to a position relation between the platform and a camera, recording a corresponding motor motion amount, solving a hand-eye pose relation matrix and a pose matrix of a calibration board coordinate system in a platform tail end coordinate system, further solving a coordinate measured value of an angular point on the calibration board in a platform base coordinate system and a coordinate theoretical value of a position matrix of the tail end of the motion platform, determining a residual error matrix according to the measured value and the theoretical value, and identifying an error parameter by the residual error matrix to complete kinematics parameter calibration of the platform.

Abstract: Disclosed are a kinematics parameter calibration method and system of a multi-axis motion platform. The method comprises the following steps of: collecting calibration board images in different spatial positions according to a position relation between the platform and a camera, recording a corresponding motor motion amount, solving a hand-eye pose relation matrix and a pose matrix of a calibration board coordinate system in a platform tail end coordinate system, further solving a coordinate measured value of an angular point on the calibration board in a platform base coordinate system and a coordinate theoretical value of a position matrix of the tail end of the motion platform, determining a residual error matrix according to the measured value and the theoretical value, and identifying an error parameter by the residual error matrix to complete kinematics parameter calibration of the platform.

Abstract: A kinematics-free hand-eye calibration method comprises: controlling translation axes of a five-axis motion platform to perform a single-axis point location motion, using a camera to obtain a first spatial coordinate of a calibration plate, fitting all first spatial coordinates into a spatial straight line to obtain a unit direction vectors of the spatial straight line, carrying out Schmidt orthogonalization on the unit direction vectors of the spatial straight lines of an X direction, a Y direction and a Z direction to obtain a pose relationship matrix combined by the orthogonalized direction vectors; obtaining a second spatial coordinate of the calibration plate in a mode of rotating an X-axis and a C-axis, fitting all second spatial coordinates into a spatial spherical surface, calculating a spherical center coordinate to obtain a position relationship matrix, and obtaining a hand-eye relationship matrix combined by the pose relationship matrix and the position relationship matrix.

Abstract: A dimensionless kinematics calibration method based on a virtual point and a related apparatus thereof. The method comprises: establishing a kinematics model of a motion mechanism, and arranging a plurality of virtual points at a tail end of the motion mechanism to establish a dimensionless kinematics model and a dimensionless error model; converting a measurement coordinate system into a motion mechanism coordinate system, acquiring a rotation matrix and a translation matrix of a target virtual point measured by the measurement device, and calculating actual coordinates of all virtual points to obtain a measured value of the dimensionless kinematics model; calculating a theoretical value of the dimensionless kinematics model according to a spatial relationship between a reflecting head and the tail end of the motion mechanism; and optimizing the dimensionless error model according to the measured value and the theoretical value to obtain a calibration result.

Abstract: This invention disclosed a method for preparing the ultrafine intermetallic particles reinforced metal matrix composites (MMC). The particle size of ultrafine intermetallic particles is about 0.01˜5 ?m. In this method, intermetallic particles and metal matrix were first ball milled together to get the mixed powder. Then, powders were cold-pressed then vacuum melting with metals to prepare the reinforced metal matrix composites materials. The intermetallic particles addition amount in this is 1˜30 wt %. This invention improve the dispersion properties of intermetallic particles while increase the particle/matrix interface strength. The ultrafine intermetallic particles reinforced MMC shows the very good performance with good ductility and strength.

Abstract: This invention publishes a method to prepare CaO-based ceramic cores used in investment casting applications. This method claims to use the rare earth oxide to coat the CaO core surface; later the coated cores are shaped then sintered to get the final products. CaO based core was made by 5˜15 wt % plasticizer, 0.001˜20 wt % mineralizer and the rare earth-coated CaO powders to balance for total 100%. This preparation method can solve the CaO core water absorption problems during core manufacturing, shipping and storage process while improve the core chemical inertness and mechanical properties.

Abstract: A cooling system and method for a wind power generator and a wind power generator set. The cooling system for a wind power generator includes air extraction pipelines and air discharge devices. The air extraction pipelines are located inside a generator case. A pipeline inlet in communication with a generator, a first pipeline outlet in communication with the outside of the generator case, and a second pipeline outlet in communication with the inside of the generator case are arranged on the air extraction pipelines, and the first and second pipeline outlets are provided with air doors.

Abstract: This invention publishes a method to prepare CaO-based ceramic cores used in investment casting applications. This method claims to use the rare earth oxide to coat the CaO core surface; later the coated cores are shaped then sintered to get the final products. CaO based core was made by 5˜15 wt % plasticizer, 0.001˜20 wt % mineralizer and the rare earth-coated CaO powders to balance for total 100%. This preparation method can solve the CaO core water absorption problems during core manufacturing, shipping and storage process while improve the core chemical inertness and mechanical properties.

Abstract: This invention disclosed a method for preparing the ultrafine intermetallic particles reinforced metal matrix composites (MMC). The particle size of ultrafine intermetallic particles is about 0.01˜5 ?m. In this method, intermetallic particles and metal matrix were first ball milled together to get the mixed powder. Then, powders were cold-pressed then vacuum melting with metals to prepare the reinforced metal matrix composites materials. The intermetallic particles addition amount in this is 1˜30 wt %. This invention improve the dispersion properties of intermetallic particles while increase the particle/matrix interface strength. The ultrafine intermetallic particles reinforced MMC shows the very good performance with good ductility and strength.

Abstract: A cooling system and method for a wind power generator and a wind power generator set. The cooling system for a wind power generator includes air extraction pipelines and air discharge devices. The air extraction pipelines are located inside a generator case. A pipeline inlet in communication with a generator, a first pipeline outlet in communication with the outside of the generator case, and a second pipeline outlet in communication with the inside of the generator case are arranged on the air extraction pipelines, and the first and second pipeline outlets are provided with air doors. Therefore, the cooling efficiency of the generator set in a high temperature environment is enhanced, and the temperature of the generator case is kept in a low temperature environment. The cost is lowered and the consumed energy is reduced.