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Yang T.,Jinling Petrochemical Corporation | Liu A.,PLA University of Science and Technology | Luo Y.,Nanchang University | Hang L.,Shanghai University of Engineering Science | And 2 more authors.
Jixie Gongcheng Xuebao/Journal of Mechanical Engineering | Year: 2010

Basic principles and characteristics of three structural synthesis methods (based on screw theory, displacement subgroup and position orientation characteristics (POC) respectively) for robot mechanism are described and compared. This comparative study shows that the method based on POC has the following notable advantages: The obtained mechanism is non-instantaneous mechanism and the DOF is full-cycle DOF. Existence condition of the obtained mechanism is more general (relative to screw theory based method). The basic structural equations reveal the explicit mapping relations among topological structure, POC and DOF of mechanisms. Much less operation rules are required and all types of mechanisms are covered (relative to displacement subgroup based method). The conclusion is that the POC based method is an effective new one for creative mechanism topological structure design. It is an important research field to establish a systematic theory integrating topological structure, kinematics and dynamics of mechanisms based on a single open-chain unit. ©2010 Journal of Mechanical Engineering.

Wang W.,Tianjin Polytechnic University | Feng Z.,Tianjin Polytechnic University | Yang T.,Jinling Petrochemical Corporation
Applied Mechanics and Materials | Year: 2010

2UPS-RPU is a new 4-DOF parallel mechanism with serial input limb. In this paper, the inverse dynamic equation of this mechanism is formulated by Newton-Euler formation based on each limb and moving platform as the studying objects. The inverse kinematics of the mechanism is analyzed. The driving force, driving moment and the constraint moment can be obtained. Finally, a computer simulation is carried out to solve the inverse dynamics of the mechanism when the motion of moving platform is given. © (2010) Trans Tech Publications, Switzerland.

Wang W.,Tianjin Polytechnic University | Feng Z.,Tianjin Polytechnic University | Yang T.,Jinling Petrochemical Corporation | Zhang C.,Tianjin University
Applied Mechanics and Materials | Year: 2010

Inverse dynamic equations of the 2UPS-2RPS mechanism are formulated by utilizing the virtual work principle. Kinematic analysis of the mechanism is presented, on the basis of which the Jacobian matrices of the limbs and the mechanism are deduced. By combining the dynamics of the limbs and the moving-platform, the inverse dynamic model of the mechanism is obtained. Finally a computer simulation is carried out to demonstrate the dynamic analysis of the moving platform. © (2010) Trans Tech Publications, Switzerland.

Shi Z.X.,Nanchang Hangkong University | Shi Z.X.,Nanchang University | Ye M.Y.,Nanchang University | Luo Y.F.,Nanchang University | Yang T.L.,Jinling Petrochemical Corporation
Applied Mechanics and Materials | Year: 2011

This paper presents a simple and systematic modular approach for kinematic analysis of complicated Parallel Kinematic Manipulators (in short, PKMs) which coupled degrees are more than 2. (1) Single open chains (in short, SOCs) may be regarded as the basic modules of a PKM. Any PKM can always be decomposed automatically into a set of ordered SOCs, and these SOCs can also be used to recognize the basic kinematic chains contained in it. (2) The kinematic analysis algorithms and the compatibility conditions of the SOC modules are offered. (3) Directly applying the above SOC kinematic modules, the kinematic equations of a PKM can be automatically established. (4) In order to solve kinematic equations of complicated parallel manipulators which coupled degrees are more than 2, a new searching algorithm which requires no initial guess has been presented. The procedural approach is demonstrated in parallel manipulators. © Trans Tech Publications.

Yang T.-L.,Jinling Petrochemical Corporation | Yang T.-L.,Changzhou University | Sun D.-J.,Jinling Petrochemical Corporation
Journal of Mechanisms and Robotics | Year: 2012

Based on the position and orientation characteristic (POC) set and the POC equations for serial mechanisms and parallel mechanisms proposed by authors, this paper presents a novel general degree of freedom (DOF) formula which is totally different from approaches based on the screw theory and the displacement group. It can be used to determine the full-cycle DOF of parallel mechanisms (PMs) and multiloop spatial mechanisms using symbolic "union" and "intersection" operations for POC sets. These operations involve only several rules and only simple mathematical tools (vector algebra, theory of sets, etc.) are used. Furthermore, criteria for determination of the inactive joints and selection of the actuating joints are proposed. The presented approach is illustrated with several examples. © 2012 American Society of Mechanical Engineers.

Jiang H.,East China University of Science and Technology | Ren S.,East China University of Science and Technology | Zhou L.,Jinling Petrochemical Corporation | Wang Y.,Jinling Petrochemical Corporation | Cao J.,Jinling Petrochemical Corporation
Petroleum Science and Technology | Year: 2015

Kinetics of reaction and catalyst deactivation were determined based on the dehydrogenation of C10 - C13 heavy paraffins to the corresponding mono-olefins, and Powell method was used to optimize the parameters. Activation energy and pre-exponential factor presented linear relationship with carbon number. The results showed that dehydrogenation became easier with the increase of carbon number of heavy paraffin and the deactivation of catalyst became slower with the increase of LHSV and pressure. The validation of kinetic model showed it was in good accordance with experimental data. Copyright © Taylor & Francis Group, LLC 2015.

Yang T.-L.,Changzhou University | Yang T.-L.,Jinling Petrochemical Corporation | Liu A.-X.,PLA University of Science and Technology | Shen H.-P.,Changzhou University | And 3 more authors.
Journal of Mechanisms and Robotics | Year: 2013

Position and orientation characteristic (POC) equations for topological structure synthesis of serial and parallel mechanisms were proposed in a published paper by the authors. This paper will further prove the correctness and strictness of the theoretical foundation for POC equations and also be a reply to the reviewers of our follow-up papers. The main contents of this paper include: symbolic representation of mechanism topological structure and its invariance, velocity characteristic (VC) set and POC set of link and its invariance, one-to-one correspondence between elements of the VC set and POC set, POC equations for the serial mechanism and 10 corresponding "union" operation rules, and POC equations for the parallel mechanism and 14 corresponding "intersection" operation rules. In addition, the interrelations and differences among three methods (POC set based method, screw theory based method, and displacement subgroup based method) for mechanism topological structure design are concluded. [DOI: 10.1115/1.4023871]. ©2013 by ASME.

Sun L.,Jinling Petrochemical Corporation
Speciality Petrochemicals | Year: 2013

Application of high load BC-249 IV phthalic anhydride catalyst, developed by Beijing Research Institute of Chemical Industries, in PA plant of Jinling Petrochemical Corporation was studied. Process changes and stability in induction and normal production period of the catalyst were investigated. 55 days are needed for induction period from initial feeding of the catalyst to 90 g loads, almost the same as that of the imported one, about 58 days. During the two-year's normal production period, under the conditions of reactor single tube air volume 4 m3/h, salt bath temperature 358°C, o-xylene mass density of 90 g/m3, the PA content of the reactor outlet gas has been above 95.6%, PA product yield decreased quiet slowly, average mass yield of the fine phthalic anhydride was 108.55%. Process data show that BC-249 IV type phthalic anhydride catalyst achieves the same standard compared with the same type of imported phthalic anhydride catalyst. In addition, two measures should be taken to strengthen the stability of the catalyst. One is to reduce the times of unscheduled shutdown, another is to increase the salt temperature by 10°C before start-up.

Jiang H.,East China University of Science and Technology | Zhang Q.,East China University of Science and Technology | Zhou L.,Jinling Petrochemical Corporation | Wang Y.,Jinling Petrochemical Corporation | Cao J.,Jinling Petrochemical Corporation
Shiyou Xuebao, Shiyou Jiagong/Acta Petrolei Sinica (Petroleum Processing Section) | Year: 2016

Based on the reaction mechanism of heavy paraffin catalytic dehydrogenation, with a new domestic catalyst of paraffin dehydrogenation as research objective, apparent reaction kinetic model and catalyst deactivation model of heavy paraffins dehydrogenation to mono-olefins were established under industrial reaction conditions. Based on the experimental data of C10-C13 paraffins dehydrogenation in an axial continuous flow fixed bed microreactor, the reaction rate constants, deactivation rate constants, deactivation order and activation energy were calculated by multivariate function Powell method, and the fitting effect of experimental values and calculated values is good. The analysis of kinetic model parameters showed the rationality of kinetics and thermodynamics. © 2016, Editorial Office of Acta Petrolei Sinica(Petroleum Processing Section). All right reserved.

Shi Z.,Nanchang University | Ye M.,Nanchang University | Luo Y.,Nanchang University | Yang T.,Jinling Petrochemical Corporation
Nongye Jixie Xuebao/Transactions of the Chinese Society for Agricultural Machinery | Year: 2016

The parallel manipulator with three-dimension translation and one-dimension rotation (in short, 3T1R) has wide requirements in processing technology, such as high-speed catch, positioning assembly, transportation. A novel 3T1R parallel manipulator was presented based on the theory of position and orientation characteristics (in short, POC). A complete type synthesis of parallel manipulator that can perform 3T1R motion was made based on the theory of POC. Then, one topology was selected from the different possibilities of parallel manipulators after imposing some practical requirements. The selected parallel manipulator was composed of four identical arms and a single platform, and the composite parallelogram structure in each arm brought in better limb stiffness. The parallel manipulator had characteristics of full symmetry, fold ability, good stiffness, large work space, and so on. In addition, the forward and inverse displacement equations of the parallel manipulator were derived, which had great importance when implemented in velocity control. The inverse position equation had 16 solutions at most, and the forward position equation only had 8 solutions at most. Finally, the solution algorithm of the forward displacement equations was given, and a numerical example was provided to confirm the efficiency of the solution procedure. The research results had a reference value for follow-up studies of the new manipulator and its application. © 2016, Chinese Society of Agricultural Machinery. All right reserved.

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