查询词典 swing joint

In chapter 3, the control object of this subject, which is a three-link gymnastic robot on horizontal bar with limited joint torque and joint angle is brought forward and its mathematic model is developed. After simulating of the movement of the gymnasts, the control task of this subject is designed as a series swing-up and balance movement, the key point of control is analyzed.

第三章，提出本课题研究的对象：关节力矩和旋转角度受限的三连杆单杠体操机器人，推导了它的数学模型；提出要完成的控制任务：模仿体操运动员上杠动作而设计的摆起倒立动作，分析了这套动作的控制关键。

After comparing with previously report, conclusion was as follow: when players use take-off spike movement by single-foot, the strides should increase progressively after observing the ball's direction, and raise the height of jump by getting faster horizontal and vertical velocity of body gravity. In order to avoid increasing the time of take-off, the body gravity is inadvisable to drop so much. In air motion period, player's movement of arm swing will influences the time of spike, if we emphasize the quick offensive, it should reduce the movement of arm swing to decrease the time of spike. When spiking, the joint of elbow should flex by a little range to make forearm powerful.

经由本实验结果与过去研究比较后得到以下结论：选手在执行单脚起跳扣球动作时，助跑的步幅宜在观察球的动向后，采取递增的方式助跑，并加快身体重心水平速度及垂直速度，以提高起跳高度；起跳期起跳脚踏入瞬间身体重心不宜大幅度的下降，以避免增加起跳所花费的时间，影响扣球的节奏及战术的执行；空中动作期时，选手的挥臂动作会影响击球时间，若要强调快速的进攻节奏，宜减少扣球的挥臂动作，以降低完成扣球所需的时间；而击球瞬间肘关节宜保持小幅度的弯曲，以发挥前臂的力量和速度。

The main technical parameters which decide the movement speed are the ankle angle of the support leg, the horizontal velocity, the hip angle and the support leg's hip joint angle, knee angle and the former support distance at the moment of contact, and the latter leg's hip joint angle, the upper arm's movement scope, the support leg's knee angle, the swing knee's angle, the support leg's hip angle at landing phase, and the ankle angle, the support leg's hip angle, the swing velocity of the former leg, the hip angle of the swing leg and the angle of the landing knee at the pushing phase.

我国优秀男子百米途中跑着地瞬间对动作速度起主要贡献的技术指标是：支撑腿的踝关节角、着地瞬间脚的水平速度、大腿夹角及支撑腿的髋角、膝角和前支撑距离；垂直缓冲瞬间是摆动腿髋关节角、上臂前摆幅度、支撑腿和摆动腿膝关节角、支撑腿髋关节角；后蹬瞬间是踝关节角、支撑腿髋关节角、大腿前摆角速度、摆动腿的髋角及支撑腿膝角。

Particular designs for joint structure are presented. The integrative design method of joint structure and angle coders is adopted so that the mechanical structure is compact and the cost is lower. In order to lighten the swing of rotary axis of joint angle sensor, high-accuracy anglecontact ball bearing is selected.

对关节结构进行了特殊设计，采用了关节结构与角度编码器一体化设计原则，保证测量设备的结构紧凑，降低成本；选择了高精度角接触球轴承，以减小角度传感器轴系的晃动，提高测量系统的总体精度；确定了空心轴结构，使传感器信号线从中穿过，使得测量设备外观美观。

The kinematics speed was detected under different state of simulating the driving moment of hip joint and the damping moment of knee joint. The testing results indirectly built the dynamics relationship among the inertial force, damping force and the swing speed of the knee joint.

在模拟不同人体髋关节摆动驱动力和膝关节阻尼力的状态下，测量膝关节阻尼缸的运动速度，从而间接获得了假腿阻尼力、惯性力与膝关节摆动速度之间的动力学关系。

The swing auto-tricycle comprises an auto body, which is divided into front and rear as a front body 1 and a rear body 2. The front body 1 is swingably connected to the rear body 2 through a swing joint mechanism.

具备将车体前后分割的前部车体(1)和后部车体(2)，前部车体(1)通过摇动式连接机构与后部车体(2)连接，并可以自由摇动。

Then, based on the consideration of decreasing impact force by correcting the robot swing foot motion error, develop a fuzzy compensate control strategy for swing foot landing. The motion control commands of pitch DOFs of hip joint, knee joint, and ankle joint of swing leg are gradually compensated online.

并基于调整机器人摆动脚运动误差以减小步行碰撞力的减振思路，提出了摆动脚落地补偿控制策略，在线分级实时补偿摆动腿的髋前摆、膝前摆和踝前摆的运动角度。

According to swinging the angle change of leg joint, hipjoint corner change in start stage withdraw knee stage start to have a prominent crestthe end curve, the overall range that increases is 14.3°士 5.0°;According to anglechange of knee joint , swing leg minimum knee corner average 84.3°士 7.6° withdrawknee.

从摆动腿关节角变化来看，髋关节角变化曲线在启动阶段末提膝阶段始有一个显著的波峰，总体增大的幅度为14.3o士5.0o；从膝关节角度变化来看，摆动腿提膝时最小膝角平均值为84.3°士7.6o。

In addition, the hip joint moment of unhealthy limbs in frontal plane was 0.12 N-m/kg higher than healthy limbs. At swing phase, knee joint flexion was 7 degrees higher than the unhealthy side and 3 degrees adduction in frontal plane.

摆动期健侧膝关节弯曲角度比患侧多出7度，冠状面上之髋关节内收角度比患侧多出3度；两侧臀中肌作用力患侧明显较小，致使骨盆下垂角度较大，身体重心向患侧偏移。

The results indicate that weight factor had significantly effect on gait speed, steps per minute, gait cycle time, the ratio of stance time and swing time, maximal flexion angle of knee joint and the range of motion of elbow joint. Shelf height had significantly effects on hip flexion and elbow ROM. Box size factor had significantly effect on stride length, gait cycle time, the ratio of stance time and swing time, knee joint elbow ROM. For the muscle activity levels with EMG, load weight and shelf height both affected the %MVC significantly. When the subjects carrying a load of 14kg, the muscle activity and the subjective body part discomfort rating are both higher than that of 7kg. The box size had effect on the body part discomfort rating of upper extremity and back. For the kinetic and kinematics analysis, the shelf height around elbow height was better than the other two height levels.

研究结果显示，对步态时间与空间参数而言，重量因子显著影响步速、步频、步态周期时间与站立期摆荡期比值，箱型因子显著影响步长、步态周期时间与站立期摆荡期比值；关节活动度而言，重量显著影响膝关节最大弯曲角度、肘关节屈伸角度范围，高度因子显著影响髋关节前后倾角度、肘关节活动各变项，箱型因子影响膝关节弯曲最大最小值以及肘关节活动各变项，对肌肉活动度而言，重量与高度因子皆显著影响MVC%值，14公斤重者肌肉活动度与主观不舒适程度皆较7公斤者高，箱型因子虽无明显影响肌肉活动度，但是在主观不舒适程度上却明显影响上肢与背部，终点放置高度应设在肘高附近为佳。

What would he tell Judith and the children?

他将怎样告诉朱迪丝和孩子们呢？

I this is at that time, the opinion with peacockish true girl is full of in a heart.

这就是当时的我，一个心中布满虚荣的女孩子真实的想法。