查询词典 kinematic

To the problem that the isotropy and the technological efficiency of the parallel kinematic machine based on Stewart platform are not satisfactory, a novel architecture of 6-DOF 3-dimensional platform parallel kinematic machine (6-DOF 3-D PPKM) based on the 2-2-2-SPS 3-D PPR is presented. The technological efficiency of design of the parallel kinematic machine is analyzed. Its workspace and the effect of design parameters to the workspace volume are studied. By using the submatrices of Jacobian matrix and force Jacobian matrix, the kinematics/mechanics transmission isotropic indices, kinematics transmission indices, load-bearing capacity indices at any configuration of the parallel kinematic machine are proposed, respectively.

分析其结构和装配工艺性，研究其定位姿工作空间及机床结构参数对工作空间大小的影响，基于Jacobian矩阵和力Jacobian矩阵中同量纲元素构成的子阵，提出该并联机床在任意位姿的运动／力学传递各向同性评价指标、运动学传递能力评价指标和承载能力评价指标；基于柔度矩阵中同量纲元素构成的子阵，提出该并联机床在任意位姿的力-位置柔度评价指标、力-姿态柔度评价指标、力矩-姿态柔度评价指标和力矩-位置柔度评价指标；研究各性能指标在定位姿工作空间内的分布情况。

A motion reference coordinate system of this quadruped robot and its simplified-structure of the multi-rigid body dynamics model are established. After kinematic and dynamic analysis, the kinematic equation, inverse kinematic equation and Jacobi matrix of the quadruped robot are presented, and the second kind of Lagrange dynamic equation group for simplified-structure of the quadruped robots multi-rigid body system is educed.

建立了该机器人的运动坐标体系，及其等效简化结构的多刚体动力学模型，对上述模型进行了运动学和动力学分析，给出了该机器人的运动学、逆运动学方程和雅可比矩阵，并导出了其简化结构多刚体系统的第二类Lagrange动力学方程组。

It is able to perform spatial transformational movement, rotation, hoisting, tilting, planar rotation and tilted rotation. Based on configuration analysis, kinematic position equations were formulated, kinematic model of parallel fine-tuning structure was discussed as a key and inverse position analysis and velocity mapping equations were presented. Kinematic simulation of the mechanism was conducted using MATLAB software. A case study was provided, which applied the mechanism in tunnel erector assembling manipulators.

通过对该机构进行分析研究，建立其运动学位姿方程，重点探讨了并联微调机构的运动学模型，建立了其位置逆解与速度映射解析方程，运用MATLAB软件对该机构进行了运动学仿真分析；同时提供了该串并联机构应用于隧道管片拼装机械手的具体实例。

This paper introduces the operating principle of case palletize,analyzes the kinematic characteristics of sliding machine ,builds the kinematic equations of sliding machine By calculating,the kinematic locus was got,so,it provides theoretical basis for the developing of case palletiz

本文介绍了码箱垛机的工作原理，分析了其滑动小车的运动特性，建立了滑动小车的运动方程，通过计算得到了滑动小车的运动轨迹，为今后码箱垛机的技术改造和开发提供了理论依

Aiming at GPS kinematic positioning actuality and existent problem, the paper researches the theory method of GPS EPOCH-BY-EPOCH kinematic positioning and the basic function, configuration and use method of Bernese GPS Software Ms-Windows Version 4.2 software by the numbers.

本论文针对GPS动态定位的现状和存在的问题，系统地研究了GPS单历元动态定位的理论方法和Bernese GPS Software Ms-Windows Version 4.2 解算软件的基本功能、结构及其使用方法，围绕利用先验信息改善单历元整周模糊度的解算方法进行系统的研究。

Aiming at GPS kinematic positioning actuality and existent problem, the paper researches the theory method of GPS EPOCH-BY-EPOCH kinematic positioning and the basic function, configuration and use method of Bernese GPS Software Ms-Windows Version 4.2 software by the numbers. The paper studies the solution calculation way of using transcendental information to improve the whole circumference ambiguity.

本论文针对GPS动态定位的现状和存在的问题，系统地研究了GPS单历元动态定位的理论方法和Bernese GPS Software Ms-Windows Version 4.2解算软件的基本功能、结构及其使用方法，围绕利用先验信息改善单历元整周模糊度的解算方法进行系统的研究。

Around the topic, the weak points of the traditional platform is analyzed first, such as complex arithmetic, long calculating time, high needs of hardware and so on. A real time control method based on virtual simulation is suggested to separate the complex positive/negative calculation of space kinematic and real time motion control. And a"3-2-1"type 6DOF platform is designed with the reference of the MAST (Multi-Axis Shaking Table) of MTS. The kinematic and dynamic calculation of the platform is finished. According to the calculating result, the control system of the"3-2-1"type 6DOF platform including 6 linear servo electric cylinders is designed and constructed. And the professional software Pro/E is used to do the 3D model and 6DOF motion simulation of the platform. The motion curves of the pistons of the 6 cylinders are exported with the simulation. At last the control software is programmed with Microsoft Visual Basic 6.0 and realizes the functions with the commands of GE series motion controllers. When loading the motion curves exported with the simulation, every cylinder can follow the curve very well and the platform realizes the hoped 6DOF motion.

围绕选题，本论文首先分析了传统的运动平台控制方法所存在的算法复杂、解算耗时长、硬件需求高的缺点，提出了一种基于虚拟仿真的实时控制方法，该方法将复杂的空间运动学正、反解与实时运动控制相分离；之后，参考MTS公司的MAST多轴振动平台，设计了新型的"3-2-1"型六自由度平台，并进行了运动学及动力学计算，根据相关计算结果，设计与搭建了包括驱动6个直线伺服电动缸在内的"3-2-1"型六自由度平台控制系统；接着，使用Pro/E对"3-2-1"型六自由度平台进行了三维建模和六自由度运动学仿真，并由仿真直接获得了6个直线伺服电动缸的活塞杆的相应运动曲线；最后使用Microsoft Visual Basic 6.0编写了控制软件界面，通过调用GE系列运动控制卡的各种命令函数实现了控制系统的相关功能，而当加载仿真得到的各缸运动曲线后，每缸均能很好地跟踪输入曲线，使平台实现了期望的多自由度运动。

A global gravity field recovery based on energy balance approach using CHAMP kinematic orbits is presented. A method combining the Newton's numerical differential formula and the remove_restore procedure for determining kinematic velocities is developed.

介绍了利用CHAMP几何法轨道恢复地球重力场模型的基本原理和算法，提出了基于牛顿数值微分公式并辅助移去-恢复方法计算卫星速度的算法。

Dead reckoning of mobile robot in complex terrain is analyzed by therigid-body kinematic constraints of mobile robot that is on the basis oflocomotion architecture with the wheeled and rocker-bogie suspension system.At the same time, the kinematic model of mobile robot is obtained using themultiple sensors information from odometry, fiber optic gyro, tilt sensor, et al.

根据刚体运动学的约束分析了一种轮式结构与悬浮式摇架系统相结合的移动机器人在复杂地形下的航迹推测，采用里程计、光纤陀螺仪、倾角传感器等传感器信息推导移动机器人的运动学模型，提出一种运动学模型与车轮。

On the basis of introduction of kinematic analysis methods, the paper founds the stationary coordinate system and the wheel coordinate system respectively. Meanwhile, the kinematic constraint equations of the standard centered orientable wheel is founded on the assumption that there is no slippage in normal direction and pure rolling in tangential direction of the wheels.

在简要介绍常规的运动学分析方法的基础上，建立了相关的惯性坐标系和滚轮坐标系，并根据滚轮在法向无滑动、切向作纯滚动的假设建立了中心定位轮的运动约束方程。

Looking to bounce back from defeat against Cesena last weekend, the Calabrian boss will be sticking to his tried and tested 4-3-3, with Lopez and Sedivic joined up front in Giampaolo's absence by either Nanni or Plasmati.

鉴于上周末对切塞纳的比赛中反败为胜，这支南方球队将会更坚持其一贯而有效的4-3-3阵型，洛佩斯和塞德维奇将取代受伤缺席的詹保罗，和纳尼或者帕斯马蒂中的一个搭档锋线。

Meanwhile, their exposure to the more freewheeling ways of the West broadened dramatically.

另外，西方较自由的生活方式对年轻人的影响增大。