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The static model of torsion joint is based on that of bending joint. The effects of structure parameters inside air pressure, initial angle, rube average radius, rube shell thickness on the turning angle are analyzed and the following conclusions are drawn: the relationship between the angle of torsion joint and the inside air pressure is basically linear, the angle of torsion joint increases with the initial angle and rube average radius, the angle of torsion joint decreases while the rube shell thickness increases. The kinetic equation is built for torsion joint. Simulating experiment implies that the time of inflating and deflating process is extremely shorter than that of kinetic process. So the pneumatic process can be ignored in actual system design and control. The factors that affect the dynamic features of torsion joint, such as shell thickness of rubber tube, average radius, initial angle, connector's outlet area, moment of inertia and viscous damping coefficient, are analyzed and the following conclusions are drawn: the change of rube shell thickness has no effects on the dynamic process of FPA inside air pressure while greatly affects the turning angle of torsion joint; when the rube shell thickness is small, the torsion joint has a bigger turning angle, no overshoot and long risetime, when the shell thickness is big, the turning angle of torsion joint is small, but has high response speed, overshoot and low shock; when the rube average radius increases, the turning angle of torsion joint increases and the overshoot increases too; when the initial angle of torsion joint is big, the turning joint is big, the overshoot is small and shock is low, but the risetime is big; the connector's outlet area affects the dynamic process of FPA inside air pressure greatly, but has no effects on the dynamic process of turning angle; moment of inertia and viscous damping coefficient have no effects on the dynamic process of FPA inside air pressure, but affect the dynamic process of turning angle greatly.

在弯曲关节模型推导的基础上，建立扭转关节的静态模型，并分析了扭转关节内腔压力，初始转角，橡胶管平均半径，橡胶管壁厚等参数对关节转角的影响，得出扭转关节的转动角度与充入FPA内腔的压缩气体压力之间基本呈线性关系，扭转关节的转角随初始角度和橡胶管平均半径的增大而增大，扭转关节的转角随橡胶管壁厚的增大而减小的结论；建立了扭转关节的动力学方程，仿真实验表明FPA的充放气过程与扭转关节的动力学过程相比时间极短，在实际系统设计和控制过程中可以忽略不计；分析讨论橡胶管壁厚，平均半径，初始角度，气体节流口面积，转动惯量，粘性阻尼系数等因素对扭转关节动态特性的影响，得出橡胶管初始壁厚的变化对扭转关节FPA内腔压力的动态响应几乎没有影响而对关节转角的响应曲线影响比较明显，壁厚较小时，关节可以得到较大的转角，并且转角的响应曲线没有超调，但上升时间长，壁厚较大时，关节转角变小，响应加快，但是有超调和轻微振荡现象，橡胶管平均半径越大，得到的关节转角越大，但是转角响应的超调量也随之增大，FPA的初始角度越大，关节的转角越大，并且超调量减小，振荡减弱，但是上升时间增大，管接头出口面积的大小对关节FPA内腔压力的建立过程影响较大，但对关节转角的动态响应几乎没有影响，转动惯量和粘性阻尼系数对FPA内腔压力的动态过程几乎没有影响而对扭转关节转角有较大影响等结论。

Convert relationship of prototype robot joint angle and equivalent model joint angle is presented based on the method of kinematics inverse solution. The Jacobian algorithm of redundant robot for achieving effective joint excursion is studied, which is fit for digital calculating. The grads projection algorithm of redundant robot multi optimizing capability function's proportion factor is deduced. The issues of apery arm robot singularity and joint self-movement are researched. The simulation experiment result of apery arm joint self-movement and line movement is presented.

因为七自由度拟人手臂机器人的建模比较困难，采用了在等效模型下求解其运动学逆解的方法，给出了原机器人机构关节角与等效模型关节角之间的转换关系；提出了一种适于数值计算的有效的求解有关节偏置的冗余度机器人Jacobian的算法，并在此基础上推导了冗余度机器人多优化性能指标函数的均衡比例因子梯度投影算法；研究了拟人手臂机器人的奇异问题和关节自运动问题；给出了拟人手臂进行关节自运动和进行直线轨迹跟踪的仿真实验结果。

Like thread joint, wedge joint, pin coupling, key joint, spline joint, full coordinate joint, elastic link joint, riveted joint, welding and glued joint and so on.

如螺纹联接、楔联接、销联接、键联接、花键联接、过盈配合联接、弹性环联接、铆接、焊接和胶接等。

Studies have suggested: Of every joint curve, the pace of hip joint is smaller and not changing much; The paces of knee joint , ankle joint and tiptoe are obvious in curvilinear motion; Knee joint up to the peak value of pace early , then moderate , ankle and tiptoe nearly reach the pace maximum at the same time during the course of proposing the knee, later dropped rapidly, the tiptoe pace increased but not reached the maximum again at the time of hitting the target.

研究表明：各关节曲线中，髋关节速度较小且变化不大；膝关节、踝关节和脚尖的速度曲线变化明显；膝关节较早达到速度峰值，然后减速，在提膝阶段踝和脚尖几乎同时达到速度最大值，之后迅速下降，在击靶瞬间脚尖速度又增大但没达到最大值。

In this research we discovers that mortise and tenon joint, dovetail joint, tongue joint, finger joint, and dowelled joint are very interesting and functional joint methods.

本研究发现传统的木式结构的对接、搭接、榫接和拼接等的技法是非常有趣和极具功能性的接合方式。

Mm,humeroradial joint cavity 0.69±0.44 mm, proximal radioulnar joint cavity 0.90±0.56 mm, thethickness of joint cartilage (joint cartilage of humerus 1.15±0.35 mm, joint cartilage of ulna 1.04±0.16 mm, joint cartilage of radius 0.98±0. 17 mm) and the collateral ligament (thickness ofthe ulnar collateral ligament 1.38±0.42 mm, thickness of the radial collateral ligament 1.32±0.42 mm) were all measured.

结果：肱尺关节腔为0.70±0.44 mm，肱桡关节腔为0.69±0.44 mm，桡尺近侧关节腔为0.90±0.56 mm；关节软骨厚度，骨关节软骨厚度为1.15±0.35 mm，尺骨关节软骨厚度为1.04±0.16 mm，桡骨关节软骨厚度为0.98±0.17mm；侧副韧带：尺侧副韧带厚度为1.38±0.42mm，桡侧副韧带厚度为1.32±0.42mm。

Methods A wet hip joint's sample from corpse was scaned by CT and all images of every cross-section hip joint's layer was obtained, and an hip joint's model was contructed with Unigraphics NX 2.0 and Solid Works 2006 SP 0.0 software. The models were assembled when simulated total hip arthroplasty after total hip joint prosthetic and ischiofemoral ligament model had been constructured. Analysis was done on von Mises stress distribution and amount of total hip component when simulated seated leg-crossing manuver. The bone and metal components were meshed as rigid bodies, composed of three-dimensional, all-quadrilateral rigid body elements, and hip joint capsule ligament was fully three-dimensional, hexahedral continuum elements representations. Results The current form of this ischiofemoral ligament's reconstruction finite element model provided for multi-body contact, large displacement interfacial sliding, large deformation capsule ligament representation, and clearly reflected the real ischiofemoral ligansent's anatomy and biomechanical behavior. The maximum on Mises stresses at the joint interface was more than that fur an otherwise identical hardware-only construct.

选择成人尸体髋关节行CT成像得到髋关节每层横截面图像，提取边界坐标，利用有限元分析软件Unigraphics NX 2.0和Solid-Works 2006 SP0.0构建出髋关节三维有限元模型及人工髋关节假体，并模拟全髋置换术进行装配，将坐股韧带按其术中重建位置进行构建骨骼与金属模型采用三维十节点四面体实体单元进行网格划分，关节囊六面体连接单元划分，模拟坐位腿交叉动作载荷获取假体撞击过程的角活动度和相应的von Mises应力分布情况结果所构建的多体连接、大界面划移、大变形的坐股韧带重建有限元模型，客观反映坐股韧带真实解剖形态及生物力学行为，增加坐股韧带重建的模型其关节面的最大主应力值大于仅有金属的模型。

Formation center tester is made up of hydraulic power joint, double PACKER joint, opposing infuse joint, numeric pump exhausting joint, sensor joint and sampling tube joint.

钻井油气层测试器是由液压动力短节、双PACKER短节、反向注入短节、数字泵抽短节、传感器短节和取样筒短节组成的。

Nicolas Retsinas, the director of the Joint Centre for Housing Studies at Harvard University, suggests that, until the crash in 2008, Americans were coming to see their homes as financial investments rather than as places to live.

哈佛大学住宅联合研究中心（Joint Centre for Housing Studies at Harvard University）主任尼古拉斯·雷特西纳斯表示，在2008年美国经济衰退之前，美国人将其房屋视为金融投资而非住宅。

Howie: Let's focus on our families' other joint venture-the union of our children.

joint：联合的 venture：冒险，用于冒险或投机的钱财 union：联盟，结合对，我们关注一下我们家族的其他合作我们孩子的结合。

Singer Leona Lewis and former Led Zeppelin guitarist Jimmy Page emerged as the bus transformed into a grass-covered carnival float, and the pair combined for a rendition of "Whole Lotta Love".

歌手leona刘易斯和前率领的飞艇的吉他手吉米页出现巴士转化为基层所涵盖的嘉年华花车，和一双合并为一移交&整个lotta爱&。

This is Kate, and that's Erin.

这是凯特，那个是爱朗。