Research on End-Effector Position Error Compensation of Industrial Robotic Arm Based on ECOA-BP.

Industrial robotic arms are often subject to significant end-effector pose deviations from the target position due to the combined effects of nonlinear deformations such as link flexibility, joint compliance, and end-effector load. To address this issue, a study was conducted on the analysis and compensation of end-position errors in a six-degree-of-freedom robotic arm. The kinematic model of the robotic arm was established using the Denavit-Hartenberg (DH) parameter method, and a rigid-flexible coupled virtual prototype model was developed using ANSYS and ADAMS.

Liquid Superlubricity Enabled by the Synergy Effect of Graphene Oxide and Lithium Salts.

In this study, graphene oxide (GO) nanoflakes and lithium salt (LiPF) were utilized as lubrication additives in ether bond-containing dihydric alcohol aqueous solutions (DA(aq)) to improve lubrication performances. The apparent friction reduction and superlubricity were realized at the SiN/sapphire interface. The conditions and laws for superlubricity realization have been concluded.