多自由度的

Convert relationship of prototype robot joint angle and equivalent model joint angle is presented based on the method of kinematics inverse solution. The Jacobian algorithm of redundant robot for achieving effective joint excursion is studied, which is fit for digital calculating. The grads projection algorithm of redundant robot multi optimizing capability function's proportion factor is deduced. The issues of apery arm robot singularity and joint self-movement are researched. The simulation experiment result of apery arm joint self-movement and line movement is presented.

因为七自由度拟人手臂机器人的建模比较困难，采用了在等效模型下求解其运动学逆解的方法，给出了原机器人机构关节角与等效模型关节角之间的转换关系；提出了一种适于数值计算的有效的求解有关节偏置的冗余度机器人Jacobian的算法，并在此基础上推导了冗余度机器人多优化性能指标函数的均衡比例因子梯度投影算法；研究了拟人手臂机器人的奇异问题和关节自运动问题；给出了拟人手臂进行关节自运动和进行直线轨迹跟踪的仿真实验结果。

The resulting arc spline is shape|preserving, and has the same number of inflections with the original polyline;(2) The segment number of circular arcs is the same as that of data points.

这种算法具有以下 3个特点：(1)生成的圆弧样条曲线具有保形的特点；(2 )圆弧样条中圆弧的段数与型值点个数相同；(3)圆弧段之间的连接点不一定在插值的型值点上，这样就能用更多的自由度来控制拟合曲线的形状。

The Phase Rule states that for a system in equilibrium, in our example, the rock at the time of metamorphism

在一个封闭的多相体系中，相与相之间可以有热的交换、功的传递和物质的交流，相律就是揭示相平衡体系中相数P ，独立组分数C和自由度 F 之间关系的规律。

Monte Carlo and self-adaptive multi-objective genetic algorithm were applied to solve the multi-objective robust optimization of suspension parameters, taking the statistic mean and standard deviation of root-mean-square value of the vertical acceleration of vehicle body and the dynamic load of front and rear tires as objective functions.

以某载货汽车的四自由度悬架模型为研究对象，同时考虑制造精度的影响，以车身垂直加速度、前后轮胎动载荷的均方根值的统计均值和方差为目标函数，采用蒙特卡罗抽样法和自适应多目标遗传算法对悬架参数进行稳健优化。

The perturbation analysis is used to study the conditions that give rise to superharmonic resonance and subharmonic resonance.

本文将考虑空间效应非对称刚度的单层结构简化为三个自由度体系，用多尺度法研究了体系在强激励下的超谐共振与亚谐共振时的动力行为，通过算例分析得到一些不同于线性结构的结论，为结构非线性抗震分析提供了途径。

First of all, the author gives a method for merging two Bezier surfaces with the construction of transition band, after discussing the G1,G2 continuous conditions of two Bezier tensor product surfaces and their geometric properties.

本文首先考虑参数曲面片上几何连续的特性和在几何造型中的应用。它相应地赋予设计者更多的自由度和灵活的调整手段。

In Chapter 5, the software, hardware and mechanical parts of integrated ultrasonic NDT system for parts of complex surfaces are introduced, the software design method for the system is presented, inroduction for each module of the software is given, a detection method for columniform part with composite material is proposed, a complete application example is provided for this part, and experimental results of detection is given.

针对国内棒材检测多为传统的手工超声检测，而现有的大部分自动化超声检测系统难以适应棒材检测的要求的现状，第六章提出了一个包括仿形、五自由度机械手、超声检测成像的一体化棒材自动检测系统。

Since the determination of dynamic load is difficult especially for structures with a great many degrees of freedom and nonlinearity such as guyed mast and power transmission tower,few researches have focused on this problem.

动态荷载的确定是一个较难的问题，自由度多且具有非线性的桅杆、输电线塔结构的动态荷载识别更少有人涉足。

Using natural frequency ratio and damping ratio as design variables, constructing an objective function with the peak values of dynamic magnification factor and the dynamic magnification area of the main system in the whole frequency band, the optimization problem is built.

建立了以固有频率比和阻尼比为设计变量，以振幅动力放大系数函数的多个峰值和整个宽频带下面积构造目标函数的优化问题。给出了两个自由度减振器参数的优化计算实例。

In order to improve the dynamic quality of the whole system, the dynamic balance precision of the high speed rotor should be improved. Dynamic behavior of geared rotor system was analyzed using modal synthesis method

应用模态综合法分析齿轮传动转子系统的动力学特性，结果表明模态综合法能有效地降低系统的自由度，提高计算速度，对于复杂的多转子-轴承系统的动力学研究具有广泛的应用前景。

According to the clear water experiment, aeration performance of the new equipment is good with high total oxygen transfer coefficient and oxygen utilization ratio.

曝气设备的动力效率在叶轮转速为120rpm～150rpm时取得最大值，此时氧利用率和充氧能力也具有较高值。

The environmental stability of that world - including its crushing pressures and icy darkness - means that some of its most famous inhabitants have survived for eons as evolutionary throwbacks, their bodies undergoing little change.

稳定的海底环境─包括能把人压扁的压力和冰冷的黑暗─意谓海底某些最知名的栖居生物已以演化返祖的样态活了万世，形体几无变化。