不减弱的

The static model of torsion joint is based on that of bending joint. The effects of structure parameters inside air pressure, initial angle, rube average radius, rube shell thickness on the turning angle are analyzed and the following conclusions are drawn: the relationship between the angle of torsion joint and the inside air pressure is basically linear, the angle of torsion joint increases with the initial angle and rube average radius, the angle of torsion joint decreases while the rube shell thickness increases. The kinetic equation is built for torsion joint. Simulating experiment implies that the time of inflating and deflating process is extremely shorter than that of kinetic process. So the pneumatic process can be ignored in actual system design and control. The factors that affect the dynamic features of torsion joint, such as shell thickness of rubber tube, average radius, initial angle, connector's outlet area, moment of inertia and viscous damping coefficient, are analyzed and the following conclusions are drawn: the change of rube shell thickness has no effects on the dynamic process of FPA inside air pressure while greatly affects the turning angle of torsion joint; when the rube shell thickness is small, the torsion joint has a bigger turning angle, no overshoot and long risetime, when the shell thickness is big, the turning angle of torsion joint is small, but has high response speed, overshoot and low shock; when the rube average radius increases, the turning angle of torsion joint increases and the overshoot increases too; when the initial angle of torsion joint is big, the turning joint is big, the overshoot is small and shock is low, but the risetime is big; the connector's outlet area affects the dynamic process of FPA inside air pressure greatly, but has no effects on the dynamic process of turning angle; moment of inertia and viscous damping coefficient have no effects on the dynamic process of FPA inside air pressure, but affect the dynamic process of turning angle greatly.

在弯曲关节模型推导的基础上，建立扭转关节的静态模型，并分析了扭转关节内腔压力，初始转角，橡胶管平均半径，橡胶管壁厚等参数对关节转角的影响，得出扭转关节的转动角度与充入FPA内腔的压缩气体压力之间基本呈线性关系，扭转关节的转角随初始角度和橡胶管平均半径的增大而增大，扭转关节的转角随橡胶管壁厚的增大而减小的结论；建立了扭转关节的动力学方程，仿真实验表明FPA的充放气过程与扭转关节的动力学过程相比时间极短，在实际系统设计和控制过程中可以忽略不计；分析讨论橡胶管壁厚，平均半径，初始角度，气体节流口面积，转动惯量，粘性阻尼系数等因素对扭转关节动态特性的影响，得出橡胶管初始壁厚的变化对扭转关节FPA内腔压力的动态响应几乎没有影响而对关节转角的响应曲线影响比较明显，壁厚较小时，关节可以得到较大的转角，并且转角的响应曲线没有超调，但上升时间长，壁厚较大时，关节转角变小，响应加快，但是有超调和轻微振荡现象，橡胶管平均半径越大，得到的关节转角越大，但是转角响应的超调量也随之增大，FPA的初始角度越大，关节的转角越大，并且超调量减小，振荡减弱，但是上升时间增大，管接头出口面积的大小对关节FPA内腔压力的建立过程影响较大，但对关节转角的动态响应几乎没有影响，转动惯量和粘性阻尼系数对FPA内腔压力的动态过程几乎没有影响而对扭转关节转角有较大影响等结论。

Fri particular, the Wittmann-type strong law of larg numbers for independent random variables is generalized to the case of NA random variables. We also present the sufficient and necessary condition of the laws of logarithm, and we extend Teicher-type strong law of the large numbers for sequence of NA random variables. Some of the laws of iterated logarithm of Teicher-type, Egorov-type arid Wittmann-type for sequence of NA random variables are obtained. Then we investigate the rate3f ionvergcll( fbr series of NA randonl variables, we obtain soIne results fbr tl1e Iaws of theiterated logarithttl, the laws of logarithm and decreasing order fOr the tail sum.Risk itllttlysis tlleory is a sigIlifica11t part of insurance InatheInatics.

Wittmann（1985a）关于实独立随机变量列的结果，并给出了NA列强大数律成立的若干条件，特别建立了一般NA列对数律成立的充分必要条件，在二阶矩存在的条件下完整的解决了一般NA列对数律的问题，中文摘要2而已有的一些NA列对数律的结果可以由它推出，给出了NA列的Teiclier型强大数律，表明lbiChCI·（1979）给出的实独立随机变量列的强大数律可以减弱其条件等；建立厂不问分布NA列的Teicfl仪；Egorov，Petrov型有界重对数律，以及加权同分布NA列的有界重对数律，进一步推广了NA列的Kolmogory有界重对数律等，特别对NA列建立了Wittm洲型有界重对数律，而其证明方法与独立情形有很大不同，同时通过反例表明在与独立场合类似的条件下，独立列的Wittmann有界重对数律不能完美的推广到NA歹小惰形；最后研究了NA随机变量级数的收敛速度，给出了尾和下降的阶；尾和的有界重对数律，及尾和对数律成立的充要条件等，并通过反例说明 NA随机变量级数与独立随机变量级数在收敛速度方面存在的差异。

In the United States, chronic alcoholism and hepatitis C are the most common ones.

在美国，慢性酒精中毒，肝炎是最常见的。

If you have any questions, you can contact me anytime.

如果有任何问题，你可以随时联系我。