并联

Based on inverse equation, the forward solution model of position is presented in this thesis through method of successive approximation, for parallel robots possess characteristic of easy inverse solution and difficult direct solution. The method is proved to be highly effective by simulation example.

根据6-SPS并联机器人反解容易、正解较难的特点，本论文基于位置反解方程，通过杆长逐次逼近的思路建立了位置正解模型，并对该方法进行了实例验证。

A more allout study on a novel structure of the micromanipulator has been carried out based on a 6-DOF parallel micromanipulator with decoupled structure in this article.

本文在创新出的运动解耦并联六自由度微动机器人新构型的基础上对其进行了较为全面的研究。

Take an further research,then a key conclusion that the kinematics of the micromanipulator is decoupled can be drawn out. Such a feature could simplify the workload of the control system greatly,and it shall be much superior to those models which exist nowadays.

进一步分析此矩阵，还可以得到该微动机器人是运动解耦的这一重要结论，此特性可大大简化控制工作量，与现今已存在的并联微动机器人模型相比具有很强的优越性。

Based on the finite element method,the minium energy principle and the voltage equilibrium principle have been developed to calculate the ampere-turn distribution of parallel coils in a shell-type transformers.

本文基于有限元技术，提出计算壳式铁心变压器并联线圈中电流分配的最小能量法和电压平衡法，并证明了两种方法的等价性。

The paper presents the formulation of the inverse kinematics of the 3-RSS/RU parallel mechanism and analyzes the direct solution. It deduces velocity Jacobian matrix. The moment transfer Jacobian matrix is obtained base on the principle of virtual work and simulated the input and output.

本论文首先推导了3-RSS/RU并联机器人的运动学反解方程，并对位置正解进行了分析，推导了速度雅可比矩阵，在此矩阵的基础上，利用虚功原理得到了力矩传递雅可比矩阵，对力矩的输入输出做出了仿真。

By means of the equilibrium equation for the force and moment of the rope tractive parallel robot the method for judging whether a configuration was within the working space or not was obtained.

通过绳牵引并联机器人的力和力矩平衡方程得出了判断一个位形是否在工作空间中的方法。

In the settings when the DC measurements, the moving-coil meter has a shunt in parallel and serial multiplier, along with DC diode and the transformer works in inside.

在设置进行直流测量的时候，这个动圈式仪表并联了一个分流器和串联增效器，同时还有直流二极管和变压器工作于里面。

The parallel mechanism CMM, as a new type of CMM, simulates the motion form of multiped.

并联座标测量机是一种新类型的坐标测量机，它模拟多足生物的运动形式。

Wear High Consistency can be a single, series or parallel multiple use.

高浓磨可以单台、多台串联或并联使用。

The equations of dynamics for the balance are established by Kane's method, from which derives the characteristic equation of natural frequency by means of linearization of dynamic equations, and the six natural frequencies being developed according to the theory of vibration. The law of the six natural frequencies varying with mass of the upper platform and the stiffness of the elastic element are presented,and the Finite Element Method is employed to testify the validity of theoretical results.

基于 Kane 方法研究天平的动力学及模态，通过线性化动力学方程建立天平的固有频率方程，依据振动理论推导出并联天平的六阶固有频率及其对应的振型，同时研究了天平的六阶固有频率随敏感单元刚度系数及上平台质量的变化规律，并用有限元法验证理论计算结果的正确性。

It has been put forward that there exists single Ball point and double Ball points on the symmetrical connecting-rod curves of equilateral mechanisms.

从鲍尔点的形成原理出发，分析对称连杆曲线上鲍尔点的产生条件，提出等边机构的对称连杆曲线上有单鲍尔点和双鲍尔点。

The factory affiliated to the Group primarily manufactures multiple-purpose pincers, baking kits, knives, scissors, kitchenware, gardening tools and beauty care kits as well as other hardware tools, the annual production value of which reaches US$ 30 million dollars.

集团所属工厂主要生产多用钳、烤具、刀具、剪刀、厨具、花园工具、美容套等五金产品，年生产总值3000万美元，产品价廉物美、选料上乘、质量保证，深受国内外客户的青睐