查询词典 kinematics

In this dissertation singularity avoidance Pith-Yaw-Roll joint apery arm-7 d o. f robot is designed and its inverse kinematics algorithm is studied It is an important problem in the field of redundant robot that inverse kinematics algorithm, and it is studied in this dissertation.

自1996年以来，我所在课题组承担了国家863网点基金项目：拟人手臂机器人系统的研制工作，本文论述了具有全方位无关节奇异的Pith-Yaw-Roll关节机构的七自由度拟人手臂机器人的设计及其逆运动学算法研究。

A control strategy using Mutual Mapping Neural Network to compute the solution of the backward and forward kinematics was presented in this paper. MMNN was consisted of two NN and one modify function, one NN was used for forward kinematics calculation, and another for Jacobi matrix calculation, the modify function was formed based on Lyapunov function.

双向映射神经元网络主要由两个神经网络和一个修正函数构成，其中一个神经网络用来进行正运动学求解，另一个神经网络用来计算雅可比矩阵，修正算法是根据李雅普诺夫函数来计算的。

Based on ABB s IRB140 mini industrial robot,this paper analyzed a 6 DOF multi-joint industrial robot in kinematics,established its kinematics model,proposed a specific simulation algorithm for robot work spaces describing,and generated a continuous work space map,which have significant referenced value in robot kinematics,barrier avoidance,computer control and robotics education.

文章以瑞典ABB公司生产的IRB140型小型工业机器人为例，对空间六自由度多关节机器人进行了运动学分析，建立了该类型机器人的运动学模型，提出了空间六自由度多关节机器人连续工作容积的仿真算法，并根据此算法生成了该机器人的连续工作容积图，这对机器人动力学、机器人避障、微机控制和机器人教学等方面的研究有重要的参考价值。

The forward kinematics is analyzed by choosing one of the mechanisms which have one, two,three or zero angle constraint.Wherein,3-CCC is a new parallel mechanism which has three angle constraints and three distance constraints, Calay\'s formular and direction cosine matrix are used to describe the rotation matrix respectively.By setting Dixon\'s and Sylvester\'s resultant with the three angle constraint equations respectively and using parameters replacement to deal with the distance constraint equations,the 64 order input-output equation of the forward kinematics is obtained under both of the methods.Numerical example confirms these theretical results and the motion simulation is shown in VC++ by integrating OpenGL.

3对高小山提出的广义并联机构进行了研究，以其中具有角度约束的并联机构进行了分析，选取具有一个、两个、三个和零个角度约束类型中各一个机构进行了运动学正解求解，其中3-CCC是一种全部由圆柱副构成的具有三个线线角度和三个距离约束的新型并联机构，文中分别用Calay公式和方向余弦两种旋转矩阵建模方法对其位置正解进行了分析，通过对三个角度约束方程分别构造Dixon结式和Sylvester结式，以及对三个距离约束方程进行变量代换分别导出了位置正解输入输(来源：4040ABC论文网www.abclunwen.com)出方程，得出64组位置正解，并使用数值算例验证了其全部根。

Firstly, several kinds of schemes were proposed according to the design demand. The best scheme was chosen after analyzing and comparing the schemes. The robot's structure was designed with Pro/Engineer and AutoCAD software. Secondly, the kinematics analysis conducted, coordinate transformation matrix using D-H method was set up, and the kinematics equation direct solution and inverse solution was deduced. The manipulative interface about the kinematics equation direct solution and inverse solution was completed with VC++ and the velocity Jacobian of displacement matrix was constructed using differential transform method. In the process of the trajectory planning based on robot's kinematics analysis, I propone a method by which we can get middle nodal point with normalizing factor in order to simplify our searching for these middle nodal points. In addition, I give these middle nodal points with actual physics signification. For eliminating contradiction between real-time and accuracy, I bring forward separately limit of error and reversal interpolation method. For decreasing calculation quantity, we resort to tri-spline interpolation in the articulation space.We analyse the work range of the robot by resorting to graphic means.

首先，作者针对机器人的设计要求提出了多个方案，对其进行分析比较后，选择其中最优的方案后用Pro/Engineer和AutoCAD软件进行了机器人模型结构设计；其次，进行了运动学分析，用D-H方法建立了坐标变换矩阵，推算了运动方程的正、逆解，运用VC++制作了正、逆运动学求解的求解界面；并且用微分变换法推导了速度雅可比矩阵；在基于机器人的运动学的轨迹规划中，通过在操作空间的规划，提出了归一化因子来求解中间结点，通过它可以使求解中间结点变得更简单，并且赋予这些中间结点实际的物理含义，对于规划中精确性和实时性的矛盾，提出了以误差极限法和反向插值法来解决的方法；为了减少规划过程中计算量，在关节空间进行三次样条插值；然后借助图解法进行工作空间分析，作出了实际工作空间的轴剖图。

On the basis of kinematics analysis and model transformation, an error equation of the robot kinematics parameter is established with numerical optimization, and the optimal design for kinematics parameter is realized, which effectively increases the repositioning precision of the robot.

在运动学分析和模型变换的基础上，运用数值优化技术建立了机器人运动学参数的误差方程，实现了运动学参数的优化设计，有效提高了机器人的重复定位精度。

A picking arm model is established using three-dimension entity software Pro/E and the kinematics analysis and forward and reverse solution calculation of the picking arm are made using D-H method. The kinematics simulation function of ADAMS is used for the simulation analysis of the kinematics features of the forestry nut picking arm and the feature curves of displacement, velocity and acceleration of the end effecter of a machine under a specific motion status are obtained, which provides reference evidence for the motion control and the optimal design of picking arms.

利用三维实体软件Pro/E建立采摘臂模型，并采用D-H法对采摘臂进行运动学分析和正逆解计算；应用ADAMS的运动仿真功能对林木干果采摘臂的运动特性进行仿真分析，给出了机器在特定运动状态下末端执行器的位移、速度及加速度等特性曲线，为采摘机的运动控制及优化设计提供参考依据。

The purpose of this article: to study the force-testing method of the side-kick in free-fighting, and develop the new field of three dimensional force-testing according to many experiments by means of three-dimensional force plate; to discover the kinematics rules and characteristics of the side-kick in free-fighting through the experimental study on the side-kick's biomechanics and kinematics characteristics of 18 excellent free-fighting athletics coming from Shandong Province, which will provide reliable kinematics indexes and parameters for diagnosing and improving the motion skills of free-fighting side kick,and for free-fighting teaching and training, further systemize and scientize the theory research of free-fighting motion.

研究目的：运用生物力学的研究方法，通过KISTLER 三维测力平台测力的实验，研究了散打侧踹腿动作的力量测试方法，开拓了散打侧踹腿动作三维力学测试的新领域；通过对山东省18 名一线优秀散打运动员侧踹腿动作力学特征和运动学特征的研究，揭示了散打侧踹腿动作的运动规律和特征，为诊断、改进和提高侧踹腿动作的技术以及散打教学和训练提供可靠的运动学指标和参数，使散打运动的理论研究进一步系统化、科学化。

In order to deter-mine the suspension point of double donkey headed oil suction pump and kinematics status and law of each component, this paper established corresponding analytic equation of kinematics and kinematics analysis, and carried Out calculation on the kinematics and kinetics law of the double donkey headed oil suction pump.

为了确定双驴头抽油机悬点和各构件的运动状态及运动规律，建立了相应的运动和动力分析的解析方程，并对双驴头抽油机的运动和动力规律进行了计算，由编制的相应计算机程序，确定出抽油机在一个周期内的运动参数与动力参数的变化规律，为合理选择电动机、设计机械换向及平衡重提供了理论依据。

An electromagnetic power steering kinematics model is built combined with the sensor and power equipment"s kinematics characteristic, then according to bond graph theory the bond graph model and diamond model of the electromagnetic power steering system are built based on the kinematics model. They could lead to the system"s transfer function, which is combined with automobile"s two freedom degree model, finally leads to the system"s model in condition with step input of steering wheel.

结合转矩传感器和电磁力发生装置的动力学特性建立了电磁式助力转向系统的动力学模型，然后在系统的动力学模型的基础上根据键合图理论建立了电磁式助力转向系统的键合图模型及其方块图模型，从而导出系统的传递函数，再结合二自由度汽车模型，最终建立了系统在方向盘转角阶跃输入下的模型。

Breath, muscle contraction of the buttocks; arch body, as far as possible to hold his head, right leg straight towards the ceiling (peg-leg knee in order to avoid muscle tension).

呼气，收缩臀部肌肉；拱起身体，尽量抬起头来，右腿伸直朝向天花板（膝微屈，以避免肌肉紧张）。

The cost of moving grain food products was unchanged from May, but year over year are up 8%.

粮食产品的运输费用与5月份相比没有变化，但却比去年同期高8％。