三轴的

Yall already know what it is and if you don't Then the great Mannie Fresh will enlighten you Ladies and gentlemen, pimps and playas Half ass rappers and true rhyme sayers This is the Carter, so hold onto your teenage daughter Because this is the Carter, a lot more rich and a whole lot smarter Wayne in ya brain young Carter Wayne in ya brain young Carter Who am I, young wizzle fa shizzle Flow sicker than a third floor in hospitals My charm starburst, my watch skittles I'm hot sizzle, what up hot bizzle Holla at a playa, I'm sorta like BD Yall can't stop my dribble, or block the lay-ups Soft top the Coupe, mami pop her too Don't chase the feelin baby girl let it come to you Remove the ceiling on the girl now she comfortable I'ma world class G mami fuck wit dude I got Lazy-Boy bank that's comfort low I'ma offense coordinator run the shoe You watch your grill what you ought to do Fore' your ribs get barbecued And my ribs is showin I say I'm starving dude This, this, this, this, this is the Carter dude What up Reel, c'mon I'm the Birdman Birdman Jr. bitch I be high in the sky shit on you and yo bitch I be flyer than your guy nigga lose the prick Now if ya follow everything just grab a wing And we could sssssshhhhhhhh All the way down to the mall and bet I buy it all Young Mar' picture the broad lick All the way down to the balls then she wipe it off If getting money is wrong I ain't right at all I young money a car I just write it off I'm the boss of my own shit, I'm my own click I would say fuck ya but go and get ya own dick Get ya game up boy hustle harder This, this, this, this, this, this, this, this, this Get ya game up boy hustle harder This, this, this, this, this, this is the Carter, yea And yall better blame Baby Cuz he the muthufucka that made me, and I'm crazy And yall ask why I never left the navy Cuz he the muthufucka that pay me, is you crazy Young, young, young wizzle baby Give you yo issue, me don't wanna kiss you No, no, no me no want no bullshit So, so stop baller blockin cuz a nigga hood rich And I floss everyday because I could bitch So holla at ya boy cuz I'm still on some hood shit Like, like, like whats really good wit ya mom or your lil boy And your sister lookin good shit, shit I'm still Apple Eagle weasel 1-7 Hollygrove never ever ever leave you I got yall waitin on my sequel This, this, this, this, this, this is the Carter people

yall已经知道它是什么，以及如果你不然后伟大mannie新鲜会启发你女士们，先生们，皮条客和普拉亚斯半驴说唱和真正的押韵sayers 这是卡特，所以举行到您的十几岁的女儿因为这是卡特，有很多更丰富的和整体堑，长一智韦恩在亚脑青少年卡特韦恩在亚脑青少年卡特我是谁，年轻wizzle发shizzle 流病加重了超过三分之一的楼在医院我的魅力starburst ，我的观赏skittles 我的热点sizzle ，有什么了热bizzle holla在playa ，我sorta一样，屋宇署 yall不能阻止我的运球，或阻止裁员的UPS 软顶的跑车， mami弹出她太不追赶feelin女婴，让它到你们这里来删除的上限，该名女童，现在她舒适我是世界一流的克mami他妈的束手无策dude 我懒惰-男童银行的舒适度低我的进攻协调员运行擦鞋您看您的烧烤什么，你应该做的前列'你的肋骨，获得烧烤和我的肋骨是showin我说我挨饿， dude 这，这，这，这，这是卡特dude 什么了轴， c'mon 我是birdman birdman小荡妇我高，在天空中shit外围对你和摇摇荡妇我比你的传单家伙nigga失去刺现在，如果亚后续的一切只是抢到的一翼我们可以sssssshhhhhhhh 所有的方式到商场和打赌，我买它的所有年轻三月'图片广大舔所有的方式到球，然后她擦拭它关闭如果得到的钱是错误的I是不正确的，在所有 i年轻的钱买车，我只是将它写小康我的老板，我自己的shit外围，我自己的点击我会说他妈的亚，但去获得亚自己的迪克获得亚的游戏了男童hustle更难这，这，这，这，这，这，这，这，这获得亚的游戏了男童hustle更难这，这，这，这，这，这是卡特，雅和yall更好地归咎于婴儿 cuz他该muthufucka使我，我疯了和yall问，为什么我从来没有离开海军 cuz他该muthufucka薪酬，我是你疯了青少年，青少年，青年wizzle婴儿给你呦问题，我不想亲吻你不，不，不，我没有想没有布尔什特所以，所以停止球员blockin cuz一nigga遮光罩丰富我每天用牙线，因为我可以荡妇因此， holla在亚男童cuz我仍然对一些遮光罩shit外围像，像，像什么真正好的束手无策亚妈妈或您的莉儿男童和您的妹妹来查找良好shit外围， shit外围我还是苹果鹰weasel 1月7日hollygrove以往任何时候都从未离开你我得到yall waitin对我的续集这，这，这，这，这，这是卡特人

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。

Laser confocal scanning microscopy is a new technology combining modern optics and electronics. The unique feature of point light source and point detecting eliminates out-of-focus blur and spots. Therefore, the axial and lateral resolution of the system is superior and 3-D imaging can be realized by scanning point by point of the object profile. Because of its advantages, confocal measurement technology is widely applied in many fields, such as medical treatment, biology, configuration of substances and micro-electronics.

激光共焦扫描显微术是结合了现代光电技术的新型扫描显微成像方法，其独特的点照明与点探测机理排除了离焦光线对图像造成的模糊和斑点影响，因而具有出众的轴向分辨率和横向分辨率；采用扫描技术在样品表面的各点逐点扫描，能够实现对微小物体的三维成像，因此在医疗、生物、物质结构、微电子等领域均具有广泛的应用。

The main work of this paper: Firstly, Basing on the summarization and analysis of the walking mechanism, Parallel drive five-bar mechanism is applied for walking mechanism. And then the characteristic of the trail and positive kinematics as well as reverse kinematics are discussed. Secondly, the model of walking mechanism is established according to Parallel drive five-bar mechanism, and then a figure planning is designed for the foot-end trail. The characteristics of the parallel drive are emphasized to research in this paragraph by the method of insert value. At last, the simulation is performed in the ADAMS to compare the real result to the theoretical value. Thirdly, a sealed structure of a Quadruped Walking Robot is designed and established. The whole control system, including motor, sensor and control circuit, is sealed in the robot. Walking is derived in the way of the shaft driving and the dynamic torque sensor is used to the surrounding conditions of the robot's foot-end to be the foundation of the robot's control. At last, the applying principle of the dynamic torque sensor is researched in detail basing on the traditional sensor of the walking robot. Moreover, the principle is divided into several sorts to discuss. Finally, simulation and verification of the monitor principle are come through in the Mechanism of the Pro/Engineer.

论文的主要工作有：在对传统步行机构总结分析的基础上，提出将平面并联五杆机构应用于四足步行机器人的腿部结构，并对其轨迹特性、正运动学、逆运动学特性做了详细计算分析；依据平面并联五杆机构的模型，建立机器人步行机构的实体模型，对其足端的轨迹做了图谱规划，并利用插值法对并联驱动端的特性曲线作了研究，并在ADAMS中进行仿真，将结果与理论值相比较；然后设计了一套四足步行机器人密封装配结构设计方案，建立四足步行机器人单足结构、驱动以及传感器监测的三维实体模型，将机器人的整个控制系统，密封装配在步行机器人的机体中，通过轴传动来驱动步行机构实现步行，采用动态扭矩传感器监测步行机构的驱动关节受到的扭矩变化，从而获得四足步行机器人足端的周围情况，为步行机器人的控制方案奠定了基础；论文的最后在分析步行机器人传统控制传感器的基础上，详细分析了动态扭矩传感器的监测原理，并分几种情况分别分析了其监测原理，并在Pro/E的Mechanism模块中实现了监测原理的仿真与验证，最后给出了传感器监测信息与系统判断之间的关系。

Using fluid dynamics FEM (two dimensional, three dimensional andaxisymmetric) and three dimensional acoustic FEM in meticulous analysis ofexpansion muffler structure, this paper studies the influences of each mufflercomponents' position, dimension, form and quantity on the fluid dynamic andacoustic performances;therefore the paper indicates that the end of the intruding tubeis the linchpin of the fluid dynamic performance of the whole muffler structure, thespringhead of muffler fluid dynamic performance is the smoothness of air current, themain factor which affects the acoustic attenuation value of expansion chamber muffleris the grade of saltation of the section of air conducting access, and the attenuationvalue of specific frequency can be dramatically enhanced by carefully designing thelength of expansion chamber.

本文通过流体力学有限元方法和三维声学有限元方法对扩张腔消声结构的参数化模型进行了细致的分析，研究了这种结构的各个组成部份的位置、大小、形状和数量对其流体力学与声学性能的影响，指出插入管端口是影响整个结构流体力学性能的关键，消声结构流体力学性能的根源是气流通过时的平稳程度；影响扩张腔消声量的主要因素为声波传播通路截面突变的程度，并可以通过精细的设计扩张腔轴向长度获得宽频或指定频率消声量的大幅度提高。

On the other hand, the more important thing is because the urban housing is a kind of heterogeneity products.

另一方面，更重要的是由于城市住房是一种异质性产品。

Climate histogram is the fall that collects place measure calm value, cent serves as cross axle for a few equal interval, the area that the frequency that the value appears according to place is accumulated and becomes will be determined inside each interval, discharge the graph that rise with post, also be called histogram.

气候直方图是将所收集的降水量测定值，分为几个相等的区间作为横轴，并将各区间内所测定值依所出现的次数累积而成的面积，用柱子排起来的图形，也叫做柱状图。