力矩

This method realizes the whole processes of autonomous path planning for free-floating space robot under Cartesian workspace, having good applicable foreground.

在已知空间机器人轨迹的条件下，采用空间机器人的逆动力学模型求解了各个关节的驱动力矩，并对真实轨迹和模拟轨迹进行了对比分析，保证误差在规定的控制范围。

The algorithm GS to solve the problem of inverse dynamics based on the optimal theory is proposed, by using the numerical methods of Gill and shooting target, the optimal joint driven torques are obtained With the smooth joint trajectory motion, a fast and stable inverse dynamics method is proposed, it provides a new effective way to control the flexible manipulator The trajectory planning in the joint space and Cartesian coordinates is especially discussed In terms of kinematics of space flexible link manipulators, a sequential integration method for inverse dynamic analysis of flexible manipulators is developed The concrete results of simulations tested and verified the validity of proposed methods, and some valuable conclusions are achieved.

提出了求解基于最优理论的柔性臂逆动力学问题的GS法(Gill—Shooting method)，得到了柔性臂关节的最优驱动力矩；提出了基于光滑关节运动轨迹的柔性臂逆动力学的快速稳定方法，为柔性臂控制提供了一条新的途径；探讨了关节空间和直角坐标空间柔性臂的轨迹规划问题；研究并完善了结合柔性臂运动学的顺序积分的逆动力学方法。通过具体实例的仿真研究，验证了所提出的柔性臂逆动力学方法的有效性，得出了一些很有价值的结论。

By taking the energy integral as Lyapunov function,it is proved that nonlinear transverse vibrations of the beam undergoing uniform extension or retrieval are stable when there are not controlling moment in the central rigid body and driving force on the beam,according to the partial stable theorem.

利用能量积分构造Lyapunov函数，根据部分变量稳定性定理，证明了当中心刚体无控制力矩，附件驱动力为零时，梁在等速伸展或收缩时的横向非线性振动是稳定的。

Due to total angular momentum conservation about the system centre of mass, a torque-free spacecraft system with space manipulators becomes the nonholonomic control system.

自由漂浮空间机械臂系统在无外力矩作用时，系统的动量矩守恒而成为非完整系统。

Due to the total angular momentum conservation to the system centre of mass, the free-drifting spacecraft system becomes a nonholonomic one without considering the external forces moment acting on it.

空间自由漂浮的航天器系统在忽略外力矩的作用时，系统因对总质心的角动量矩守恒而成为非完整系统。

Using the sectional force and torque balance method to consider the effects of load force and temperature,provides a more completeness and systematic mathematical model.The working characteristic of bimetal strip is expressed by equivalent network.

采用综合考虑负载作用力及温度影响的分析条形双金属片的截面力－力矩平衡法，给出了较完整系统的数学模型；将双金属片用等效网络表示，用网络分析手段求解温度继电器、热继电器的工作参数；分析了在比弯曲最大的条件下各层界面、表面应力关系。

Rolling pressure and rolling torque are important technical parameters in rolling course. They play an important role in establishing depression regulation, analysis of load in working procedure, checkage of equipments intensity and so on.

轧制压力和轧制力矩是轧制过程中重要的工艺参数，在制定压下规程、工序负荷分析、设备强度校核等方面都具有重要作用。

Seat, stem and packing. As shown in the diagrampressure, and the ball in the closed position, the valve is moved to the

如下图所示，力矩最大值发生在出现压差且球芯在关闭位置向打开方向旋

This is because the torque caused by the closure of the valve.

这是考虑到阀门的关闭力矩所致。

The simulation technique for CMG system is studied and corresponding physical simulation scheme is introduced, which is very significant in validating the theory based on and the engineering application of CMG.

论文还对控制力矩陀螺系统仿真技术进行了研究，给出了物理仿真的方案，这对验证理论工作的正确性和工程应用都是有着非常重要的作用。

The concept of equivalent rotationally rigidity is offered and the formula of rotationally rigidity is obtained.

主要做了如下几个方面的工作：对伸臂位于顶部的单层框架—筒体模型进行分析，提出了等效转动约束的概念和转动约束刚度的表达式。

Male cats normally do not need aftercare with the exception of the night after the anesthetic.

男猫通常不需要善后除了晚上的麻醉。