Robot Workspace Reconstructing Solving Method Based on Image Engine
Research and application of spatial multi-joint robot become hot point in recent years. In this paper, a practical arc welding robot produced by ABB is selected as research subject, separate essential structural parameters of it, establish coordinate frame of link as well as D-H parameter list, analyze its forward kinematics and get position vector of the end-effector. Then, visual model is created to checkout rationality of the forward kinematics analysis. Finally, workspace reconstruction based on DirectX is raised. When researchers compare robot workspace simulation based on Monte Carlo method with our new method, the latter has the feature of modelling and digitization, which lays a foundation of designing arc welding robot efficiently and steadily.
The Research about Prescribed Workspace for Optimal Design of 6R Robot
Based on the D-H notation, 
kinematics model and inverse kinematics model of 6R industrial robots are 
established. Using graphical method, the boundary curve equations of the 6R 
industrial robot workspace are obtained. Based on the prescribed workspace, the D-H parameter optimization method of 6R industrial robots is 
proposed. Using the genetic algorithm to determine the structural dimensions of 
a 6R robot, we make sure that its workspace can exactly contain the prescribed 
workspace. This method can be used to reduce the overall size of the robot, 
save materials and reduce the power consumption of the robot during its work 
time.
Anomalous Annealing Behavior of Arsenic Implanted Silicon as a Function of Dose and Energy
Anomalous annealing behavior of damage in As implanted Si has been investigated by channeling effect measurements. Room temperature As implants with doses from 1014 to 2 × 1016cm-2 at energies ranging from 50 to 250 keV into Si were annealed over the range of 600°C to 1100°C. Anneal temperatures ≥ 950°C reduce the disorder for ion doses of 0.5 to 1 × 1016 cm-2 at energies between 50 and 250 keV. Anomalously high residual disorder was found for the intermediate doses of 2 × 1014 to 2 × 10/cm2 implanted above 100 keV. For this intermediate dose, annealing of implants performed at liquid nitrogen temperatures did not show significant reduction in this damage. However implants at 200° to 300°C indicate a lower amount of damage compared to the room temperature implants.