查询词典 manipulator

According to the structure and working, we created the composable model for heaven forging manipulator with EELG method. By simulating the load condition in forging process, the relation of manipulator acting and deformation shock would be obtained.

5针对锻造操作机的结构和作业特点，运用可扩展单元线性图方法建立了该系统的复合模型，通过仿真计算模拟了操作机锻造顺应过程的受载状况，揭示了操作机缓冲锻件变形冲击载荷的作用规律。

The paper introduces the main structure and feature of the charge/discharge manipulator of friction welding geological drill stem as well as the PLC control system used by the manipulator.

本文介绍摩擦焊接地质钻杆上下料机械手的主要结构特点及其所采用的PLC控制系统，并指出该机械手的二次开发前景。

A type HUST 8F master/slave telemanipulator system developed by the authors is described, which consists of a manipulator with automatic tool exchange, tools, tool holsters, a master manipulator and micro processor control system.

介绍了能有效提高机械手的作业能力的HUST8F主／从遥控机械手系统，它由具有自动更换工具功能作业机械手、工具、工具库、主操作手和微机控制系统组成。

This system is through applies Simens S7-200 the series PLC control pneumatic motor manipulator the movement, causes the manipulator to work in manual, the monocycle, on foot, continuously and returns to the zero point five kind of active statuses, and supervisory system which controls using PCAUTO to its work process monitoring.

本系统就是通过应用西门子S7-200系列PLC控制气动机械手的运行，使机械手工作在手动、单周期、单步、连续和返回原点五种工作状态，并利用三维力控的监控系统对其工作过程监控。

ABSTRACT In this dissertation, fault-tolerance of redundant manipulators is thoroughly investigated. First, inherent relationship between the dexterity and fault-tolerance of single-redundancy manipulator is discussed. Both the manipulability and the relative manipulability are utilized for measuring the kinematic fault-tolerance of the manipulator with one joint failure. Furthermore, the relative manipulability is used for measuring dexterity loss resulted by one joint failure, and the relationship between the fault-tolerance measurement and null space vector of Jacobian matrix is established.

本文对冗余自由度机器人的答错性问题进行了深入的分析和迭付：首先研究了单冗余度机器人运动学灵活性与容错性之间的内在关系，提出以故障构形的可操作度和相对可操作度来度量机器人的运动学容错性，用相对可操作度来度量关节故障给机器人操作灵巧性造成的损失，并建立了容错性度量指标与Jacobian矩阵零空间向量之间的关系。

The detail contents can be summarized as follows: Using Grassmann line geometry method to analyze joint axes linear dependence in manipulator singular configurations; The manipulator constrain equations are derived base on the reciprocity of twists and wrenches; The null space method is used to obtain the reciprocal screws when singularity occurs.

具体内容包括以下几个方面：用Grassmann线几何方法分析了机器人机构奇异时关节轴线的线性相关性；用螺旋理论推导出了基于力螺旋和运动螺旋表示的反螺旋约束方程式；用零空间理论求出了机器人奇异位形的反螺旋。

In the part of reverse displacement of the parallel manipulator is discussed, theforward displacement of two kinds of parallel manipulator is carried out, then, thequestion of passive joints is analyzed. At last, synthesis hereinbefore parts, theexamples are given.

在运动分析部分，研究了并联机构的位置逆解，并推导求解了两种并联机构的封闭位置正解，分析了各分支的被动关节的求解问题，综合以上各方面，给出算例。

In this project, the singularities of a 6-DOF PUMA manipulator and a 5-DOF GRYPHON manipulator are analyzed in detail and all the corresponding singular directions in task space are clearly identified.

於本计画中，六自由度PUMA机械臂及五自由度GRYPHON机械臂的所有奇异点都被分析出来，且在工作空间上的所有奇异方向亦被全部指认出来。

In this way, the velocity inverse of a manipulator at singular configurations is uniquely defined, hence, the precision trajectory control of a manipulator at singular configurations can be implemented.

因此，该模型能保证机器人处于奇异位形时运动学反解的唯一性，使机器人在奇异点得到精确的轨迹控制。

LTHJ-SUPER-A2 welding manipulator automatic recovery machine(Condensed air is needed0.4-0.8Mpa) This system is set for welding manipulator,special cylindrical welding tools or difficult welding .It adds super negative pressure wind pump on inner side offlux cylinder,so that in the welding process it can absorb unmelted flux directly into cylinder and place into a small hopper.Open the valve of small hopper and put flux onto work piece,then you can put it into reprated usage.

LTHJ-SUPER-A2型操作机正压自动回收机（需压缩空气0.4-0.8Mpa）本系统是为一体超强新型的操作机或外圆焊接特制工具、高难度的焊接而设置的，它利用压缩空气，将在焊接过程中尚未溶化的焊剂直接吸收到桶内，放置到小料斗中，打开小料斗阀门把焊剂放到工件上，进行往复使用。

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％。