查询词典 through joint

Based on the analysis of the mechanism of robot manipulators, a trajectory tracking controlling research model is first built up with ADAMS, and its mathematical model is formulated through the study of robot kinematics and dynamics. After the modeling errors are analyzed in practical robotic systems, a conception of centralized error is brought forward according to the theory of weighting functions. In the case of modeling errors' exist, the robotic uncertain model is derived by introducing an auxiliary control variable into inverse dynamic analysis. The control strategy of robust exponential convergence is applied to the robotic uncertain model, the applicable conditions and the applicable controller with this application are presented. The stable control effect under three main model uncertainties (parametric errors, joint disturbs, joint frictions) are systematically studied on the previously built research model. The problems of robust exponential convergence controller which often results in unstable output and so produces a large relative error when the input trajectory is in a small range are resolved by adjusting the control parameters based on the controller's structure.

本文在机械手的机械结构分析基础上，利用ADAMS建立了用于机械手轨线跟踪控制研究的机械手模型；通过对机器人运动学和动力学问题的研究，建立了机械手研究的数学模型；分析了机器人系统中模型误差的主要来源，根据加权函数法分析，提出了模型集中误差的概念；在存有模型误差的情况下，采用逆动力学结构并引入辅助控制量，由机器人误差模型推导了机器人非确定性模型；提出了采用鲁棒指数收敛法对上述机器人非确定性模型进行鲁棒镇定的控制策略，并给出了对机器人进行鲁棒指数收敛控制时系统不确定因素应满足的匹配条件；针对机械手研究模型，深入研究了鲁棒指数收敛控制器对机器人系统中常见的模型参数误差、关节扰动、关节摩擦等不确定因素的镇定控制效果；针对鲁棒指数收敛控制器易产生控制量振荡的问题以及在小范围内系统轨线跟踪的稳态误差过大问题，本文分别提出了基于控制器结构的控制参数调整法和基于轨线跟踪范围大小的控制参数分段切换法。

This paper, through comprehensive analysis, deals with the problems in joint venture school cooperation in southern Jiangsus secondary schools by studying the background and current situation of the joint venture school cooperation, special topic survey, questionnaires and interviews. The problems are: 1. a small number of schools lay too much emphasis on benthamism; 2. overseas curriculum is introduced without digestion; 3. the joint venture cooperation in vocational schools is not accustomed to the local need; 4. many difficulties exist for a smooth connection with domestic and/or overseas college enrollment.

本文从研究苏南地区中等学校中外合作办学的背景和现状入手，通过专题调研、问卷调查、针对性访谈等方法，经过综合分析发现苏南地区中等学校中外合作办学存在如下主夏问题：1、功利观念影响办学质量；2、引进国外课程"食洋不化"；3、职业学校中外合作办学"水土不服"；4、学生国内外升学路径不畅。

The properties of mini-finger joint in corner, dowel joint.tenon and mortise joint were compared and studied through experiment.

通过试验，对微型指榫角部接合与圆榫及直角榫接合性能进行了比较和研究。

Next expose the talonaicular joint by dissecting deep to the tendon and incise its capsule transersely. Continue the dissection laterally through the capsule of the calcaneocuboid joint, which lies on the same plane as the talonaicular joint.

然后在肌腱深面解剖分离，横行切开距舟关节囊显露距舟关节，继续向外分离切开跟骰关节囊，该关节与距舟关节位于同一平面。

Dissect the fascia from the dorsum down to the bursa oer the medial aspect of the metatarsal head. Then make a cured incision through the bursa and capsule of the joint Fig. 1-24,; begin the incision oer the dorsomedial aspect of the joint, continue it proximally dorsal to the metatarsal head and then plantarward and distalward around the joint, and end it distally on the medioplantar aspect of the metatarsophalangeal joint.

然后弧形切开滑囊及跖趾关节囊图1-24，，切口起自关节背内侧，自跖骨头背侧向近端延长，然后转向跖侧，再转向远瑞，环绕关节而行，最后在远端终止于跖趾关节的跖内侧面，此切口形成一椭圆形网球拍状组织瓣，连接于近节趾骨的基底部

Dissect the fascia from the dorsum down to the bursa over the medial aspect of the metatarsal head. Then make a curved incision through the bursa and capsule of the joint Fig. 1-24,; begin the incision over the dorsomedial aspect of the joint, continue it proximally dorsal to the metatarsal head and then plantarward and distalward around the joint, and end it distally on the medioplantar aspect of the metatarsophalangeal joint.

然后弧形切开滑囊及跖趾关节囊图1-24，，切口起自关节背内侧，自跖骨头背侧向近端延长，然后转向跖侧，再转向远瑞，环绕关节而行，最后在远端终止于跖趾关节的跖内侧面，此切口形成一椭圆形网球拍状组织瓣，连接于近节趾骨的基底部

Small ones may conduct scientific research either according to unified city-wide plans or through joint efforts with other factories.

小厂的科研可以由市里综合办，也可以由几个厂联合在一起搞。

Machine drive principle: No matter it is mono-block type or detached type, we take electromotor as original motor to convey the power to retarder input shaft (high-speed rotation axle) through direct connection or triangular belt and retarder output shaft (low-speed rotation shaft) connects directly with the joint screw or low-speed rotation shaft connects with the main shaft joint screw through coupling thrust bearing socket.

机械传动原理：本司产品无论是整体式的还是分体塑料再生机，均以电动机为原动机，通过直连式或三角带将电动的力传递给减速器轮入轴由减速器输出直通联接螺杆或经低速轴通过联轴器止推轴承座主轴联接螺杆，使螺杆按设计要求及生产工艺要求的扭矩和转速匀速地旋转，以达到塑料塑化后定压、定量、均匀地连续挤出的目的。

The new rT joint not only has two rotation axes that intersect at right angle,but also has another rotational degree of freedom which can be used to modify the assembly of other joints.This can change the mobility of the parallel mechanisms that assembled with the new rT joints and leads to two types of metamorphic paralllel mechanisms:In the first type,the mechanism changes its topology by turning the new rT joints in all limbs into different configurations which reconfigures the constraints within the limbs or the assembly of all the limb constraints.This change of mobility is completed by two cases.One is illustrated by a 3PS and a 3C parallel mechanism,by altering the rT joint into different configurations there will produce or reduce local degrees of freedom and thus change the constraits to the moving platform.This qualifies the 3PS and 3C to have variable mobility from 3 through to 6 and from 1 through to 6 respectively.

该铰链除了一般Hooke铰的两个轴线互相垂直相交的旋转自由度外，还增加了一个可以调节该两个轴线之一的姿态的一个旋转自由度，通过此自由度调节该rT铰到不同的装配构型，可以改变用其装配的并联机构的自由度，由此产生两类新型的并联变胞机构：一类是机构的各个支链中都有rT铰，该铰链的不同构型可以改变各支链对运动平台的约束或整个支链组的组合形式而改变机构的自由度状态，3PS和3C属于前者，通过调节rT铰到不同构型可以使其支链产生或消失局部自由度，从而减少或增加支链对运动平台的约束，使得并联变胞机构3PS和3C分别具有自由度从3变到6和从1变到6的能力；3P属于改变支链组组合形式的机构，其rT铰的不同构型将改变整个支链组的几何约束组合，使得并联变胞机构3P可以有三转动、三平动或三平移(来源：ABCded9de论文网www.abclunwen.com)一转动的自由度形式。

The main research contents are as follows:1. Through massive calculation, analysis and comparison, sum up the similarities and differences between the special-shaped cross sections and rectangular cross sections in mechanical features, between reinforced concrete special-shaped columns and rectangular columns in load-bearing capacity, ductility performance and provide necessary basic concepts and data for further understanding the characteristics of the special-shaped columns;2. Through massive elastic calculations and elasto-plastic analysis, under the preconditions of satisfying the code's requirements for axial compression ratio, limit value of lateral displacement and load-bearing capacity of normal section,oblique section and beam-column joint, under circumstances of different intensity of earthquake, structure dead weight, sort of site and column grid bay dimension, the variation regularity of maximum suitable height of structure, and thus sum up the maximum suitable height of structure for code for the purpose of macro-control while deciding the design scheme;3. Make a preliminary study on the stress feature of reinforced concrete special-shaped column and Z-shaped column of which the ratio of limb length to limb thickness is between 4~5 ,and the preliminary design method is suggested;4. Through elato-plastic time history dynamic analysis of typical projects, check up the weak storey of the special-shaped column structure and yielding, breaking and collapse mechanism to satisfy the earthquake resistant requirement to buildings of remaining stand under strong earthquake;5. Derive for project use simplified calculation formula of vibration period, suitable vibration period, suitable rigidity of special-shaped column structure through theoretical analysis, and provide an easy and practical method for deciding the structure scheme economically, safely and reasonably;6. Based on the study achievements in theory and massive analysis and calculations of this paper, sum up the regularities of inner force, deformation of special-shaped column structure and seismic conceptual design, and thus the suggection of seismic design of special-shaped column structures is presented.

本文研究的主要内容如下：通过大量的计算、分析和对比，总结出异形截面与矩形截面在力学特性、钢筋混凝土异形截面柱与矩形截面柱在承载能力、延性性能等方面的异同，为深入了解异形截面柱的特点提供必要的基本概念和数据；通过大量的弹性及弹塑性计算分析，在满足规程对轴压比、侧移限值及正截面、斜截面、节点承载力抗震验算要求的前提下，在不同抗震设防烈度、结构自重、场地类别及柱网开间尺寸情况下最大适宜高度的变化规律，并在此基础上总结归纳出异形柱结构的最大适用高度规定，可用于规程，以便于在确定方案时起到宏观控制的作用；对肢长与肢厚比在4～5的钢筋混凝土异形截面柱及Z形柱的受力特点进行初步探讨，提出初步的设计方法；通过对典型工程的弹塑性动力时程分析，检验异形柱结构的薄弱层及屈服、破坏、倒塌机制，以达到建筑物大震不倒的抗震设防要求；通过理论分析，推导出异形柱结构自振周期，以及适宜自振周期、适宜刚度的工程实用简化计算公式，为经济、安全、合理地确定结构方案提供简便实用的方法；在本文理论分析、计算以及大量的研究成果基础上，总结归纳出异形柱结构内力、变形的规律及抗震概念设计内容，并在此基础上提出异形柱结构的抗震设计建议。

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％。