动力学的

As the example, robot mechanism is considered, including the topology graph representation. compotation of the mathematical model. This method based on Riemann geometry with simpler formulation is more suitable for computer-aided modeling and dynamic analysis.

讨论了机器人系统的拓扑图表示和动力学模型计算等，与已有的机器人动力学分析办法相比，基于黎曼几何和拓扑图表示方法的动力学分析更加简便，更加适合机器人动力学机械化建模。

In this dissertation, dynamic problems of 6-RTRT parallel robot including modeling of dynamics, analysis of velocity and acceleration, establishment of Lagrangian dynamic equation, computation of inertia force and driving torque are analyzed using influence coefficient method.

本文用运动影响系数法对6-RTRT并联机器人进行了动力学研究，完成了动力学建模，分析了速度和加速度，建立了拉格朗日动力学方程，并完成了惯性力和驱动力矩的计算。

And introduces the structure and operational principle of QLZ87AGL made in china which has been armed by our army. Based on the classical interior ballistics and weapon gas dynamics theory, a mathematics model of the interior ballistics and gas system is established.

运用经典内弹道、武器气体动力学和自动武器系统动力学理论建立了榴弹发射器在发射过程中的内弹道、后效期、导气装置的气体动力学模型和机构二自由度的动力学模型。

This model is different from the structural dynamics model in a non-inertial reference frame with large overall motions known.

本文从力学基本原理出发，分析了刚柔耦合零次近似理论失效的原因，深入研究了有大范围运动的柔性体变形场的描述，建立了刚柔耦合一次近似的动力学模型；然后利用上述模型，从非惯性系下的结构动力学问题和大范围运动为自由的刚柔耦合动力学问题这两个层次上进行了刚柔耦合动力学建模理论与性态的研究，采用理论和实验相结合的手段来检验了一次近似刚柔耦合动力学模型的正确性。

Based on the single-axis air-bearing test bed, three experiment schemes are creatively designed for investigating the behaviors of rigid-flexible coupling dynamics:(1) experiment scheme for structural dynamics problem under a non-inertial frame,(2) experiment scheme for rigid-flexible coupling dynamics with unknown large overall motions,(3) experiment scheme for modal analysis of a typical rigid-flexible coupling system.

为了能更深入地揭示刚柔耦合动力学特性与验证本文提出的一次近似模型的正确性，最后重点介绍了我们在单轴气浮台动力学仿真实验平台基础上，经过多次探索和总结，创造性地设计的三套刚柔耦合动力学实验方案：(1)非惯性系下结构动力学问题的实验研究方案，(2)大范围运动为自由的刚柔耦合动力学问题的实验研究方案，(3)刚柔耦合系统模态分析实验方案。这三套方案从实验的角度来讲是可行的，这为下一步的实验工作打下了基础。

For inheriting the dynamic constraint information of the multibody simulation model, topological configuration of the multibody simulation model was built, and simplified constraint form was put forward with the topological mapping of the multibody simulation model in the heterogeneous systems. To transform the information of the multibody simulation model, the offset matrix which transformed the location and orientation of constraints and the matrix which transformed the location and orientation of parts were computed.

利用多体动力学仿真模型在异构系统的拓扑映射，建立多体动力学仿真拓扑构型，提出仿真模型动力学约束的约束简型表示法，实现动力学约束信息的关联继承，并通过约束偏置变换矩阵和构件位姿变换矩阵的求取，驱动多体动力学仿真模型构件和约束位姿的自动调整，实现多体动力学仿真模型的动态转化。

The non-isothermal kinetic data were analyzed with the Achar equation, Coats-Redfern equation, Kissinger equation, Flynn-Wall-Ozawa equation and Starink equation.The mechanism function and kinetic parameters of the thermal decomposition in the third step were obtained.The chemical reaction mechanism (F3) controlled the third thermal decomposition process.The apparent activation energy and the pre-exponential factor were 351 kJ·mol-1 and 2.57×10 30s-1 respectively.

采用Achar方程、Coats-Redfern方程、Kissinger方程、Flynn-Wall-Ozawa方程和Starink方程对非等温动力学数据进行了分析，得到了第3步热分解反应的机理函数、动力学参数和热分解反应动力学方程，其热分解反应过程受F3机理控制，表观活化能为351 kJ·mol-1，指前因子为2.57×

The paper is based on the multi- rigid bodies systems dynamics and the flexibility polysome systems dynamics as the rationale, uses the related mathematics theory of mechanics and the method inferential reasoning polysome systems dynamics equation.

本文是以吉林省科技发展项目：&具有主动约束阻尼层的柔性机械臂系统动力学研究及其优化控制&项目为依托，以多刚体系统动力学和柔性多体系统动力学为理论基础，利用相关的数学力学理论和方法推导多体系统动力学方程。

The kinetics model was gotten based on the alkyl mechanism, light olefins re-absorption and re-reaction. The kinetics experiment is carried out over the selected Fe-Mn-K catalyst, and the kinetics model parameters is got base on the kinetics experiment data. The parameters explain the reaction results that the carbon monoxide content is high, the methane content is the biggest of the hydrocarbon products and the olefin content is bigger than the corresponding alkenes content.

本文同时对该反应的反应机理和动力学进行了研究，以烷基机理为基础，建立了考虑烯烃再吸附和二次反应的动力学模型，并在选定的催化剂上进行了相应的动力学实验，结合动力学实验数据计算得到了相应的动力学模型参数，模型参数值解释了反应产物中CO的含量较高，以及烃类产物中CH4含量最高和烯烃含量大于相应的烷烃含量。

In the second part of the paper, the sport techniques of the flight elements was analysised in-depth theoretically by the movement technical structure:①the giant swing was first analysised in mechanics by applying the Kane's method, the dynamic equation of 5-link multi-body model was established, and the computer simulation software of the giant swing on the high bar was developed.

其次，作为单杠上飞行动作系统性研究的另一主要方面，本论文对飞行动作一般技术结构中的各技术环节进行了深入的理论分析：①着重对飞行动作准备阶段的回环运动技术进行了动力学分析，主要采用了多体力学理论中的Kane方法，建立了5环节人体回环运动的动力学方程，并应用计算机数值仿真技术研制开发了用于回环运动动力学分析的数值仿真软件，进而以动作实例对回环运动进行了数值仿真与误差分析，其所得到的数值仿真结果能够满足对人体回环运动的动力学分析和仿真要求；②对于飞行动作的撒手技术环节，本论文从人体环节相对运动角度，来分析撒手时人体质心的运动以及撒手时角动量参数，并列举了几种飞行动作撒手技术的基本力学指标；③关于飞行动作的空中技术，论文在总结了空翻转体动力学机理的研究成果基础上，对人体空中运动定量化问题进行了一般性描述，并进一步应用刚体动力学理论，着重建立起了描述空翻与转体技术之间定量化的关系，讨论了空翻转体运动的稳定性及其运动模式的转换问题，它对于定量地评定空翻转体技术以及今后对空翻转体动作进行数值仿真都具有理论上和实践上的重要意义；④关于飞行动作再握技术环节，本论文避免了以再握瞬时性的力学参数指标来描述再握技术特征的简单化途径，提出以再握下摆与回环下摆相对比的方法来研究再握技术，并以飞行动作再握技术的具体实例进行了对比分析，表明再握下摆技术相比回环下摆技术有着相当的困难性和复杂性，运动员对再握下摆过程中各环节的相对运动实施有效的控制，是连接高难动作以及顺利流畅地完成成套动作的关键。

I am accused of being overreligious," she said in her quiet, frank manner,"but that does not prevent me thinking the children very cruel who obstinately commit such suicide.""

客人们在卡罗利娜·埃凯家里，举止就文雅一些，因为卡罗利娜的母亲治家很严厉。

Designed by French fashion house Herm è s, this elegant uniform was manufactured in our home, Hong Kong, and was the first without a hat.

由著名品牌 Herm è s 设计，这件高贵的制服是香港本土制造，是我们第一套不配帽子的制服。