并联

On the basis of the above results of detecting methods, the instruction signal calculating circuit is designed according to i〓, i〓 calculating mode. Compensation current generating circuit is also designed and implemented. Its current following circuit is designed according to the instantaneous value comparing mode that used constant time control. The source current detection based control mode and composite control mode and their implementation are firstly introduced in our country. The method and the principle of dc side capacitor voltage control are explained clearly.

根据检测方法的研究成果，采用i〓、i〓运算方式构成并联型电力有源滤波器的指令电流运算电路；对补偿电流发生电路进行了电路设计和实施，其中电流跟踪控制电路采用电流跟随性能好、可靠性高的定时控制瞬时值比较方式；在国内首次研究并实施检测电源电流控制方式和复合控制方式；清楚地阐明了并联型电力有源滤波器直流侧电压控制的原理和方法，并在装置中实施。

The status of the flow in manifold systems will directly affect the efficiency and security of an exchanger. With the help of discrete model, the characteristic of the flow in manifold systems will be got.

流体在并联管组换热器中的流动状况将直接影响到换热器运行的效率和安全性，通过离散模型计算方法可得到流动工质在并联管组内的流动特性。

This technique is to make a device to instead those transmitters and reduce the need in pressure gauges. Using the electronic valve and flexible tube to construct the control panel is effective to connect the single pressure gauge with every sensor point in ventilation duct.

利用软管将欲量测之管段的压力导引到控制箱内，并将所有导引来的静压分别安装在一组并联的各电磁阀上，再将所有的动压分别安装在另一组并联的各电磁阀上，而该两组并联电磁阀的底部各安装一根连通管连结至单一差压计的高低压两端，并利用控制组件切换各电磁阀的启闭以达到多点压力监测切换的目的。

This technique is to make a device to instead those transmitters and reduce the need in pressure gauges. Using the electronic valve and flexible tube to construct the control panel is effective to connect the single pressure gauge with every sensor point in ventilation duct.

利用软管将欲量测之管段的压力导引到控制箱内，并将所有导引来的静压分别安装在一组并联的各电磁阀上，再将所有的动压分别安装在另一组并联的各电磁阀上，而该两组并联电磁阀的底部各安装一根连通管连结至单一差压计的高低压两端，并利用控制元件切换各电磁阀的启闭以达到多点压力监测切换的目的。

The mechanism of some typical hexapods has been discussed, the advantages and backwards of it have also been analyzed. 2 Workspace analysis is a very important aspect of mechanism analysis.

工作空间是并联机器人机床的重要指标，为了方便、快速地求得并联机构的工作空间，提出了基于并联机构运动学逆解的工作空间极限边界数值搜索算法。

The main work of this paper: Firstly, Basing on the summarization and analysis of the walking mechanism, Parallel drive five-bar mechanism is applied for walking mechanism. And then the characteristic of the trail and positive kinematics as well as reverse kinematics are discussed. Secondly, the model of walking mechanism is established according to Parallel drive five-bar mechanism, and then a figure planning is designed for the foot-end trail. The characteristics of the parallel drive are emphasized to research in this paragraph by the method of insert value. At last, the simulation is performed in the ADAMS to compare the real result to the theoretical value. Thirdly, a sealed structure of a Quadruped Walking Robot is designed and established. The whole control system, including motor, sensor and control circuit, is sealed in the robot. Walking is derived in the way of the shaft driving and the dynamic torque sensor is used to the surrounding conditions of the robot's foot-end to be the foundation of the robot's control. At last, the applying principle of the dynamic torque sensor is researched in detail basing on the traditional sensor of the walking robot. Moreover, the principle is divided into several sorts to discuss. Finally, simulation and verification of the monitor principle are come through in the Mechanism of the Pro/Engineer.

论文的主要工作有：在对传统步行机构总结分析的基础上，提出将平面并联五杆机构应用于四足步行机器人的腿部结构，并对其轨迹特性、正运动学、逆运动学特性做了详细计算分析；依据平面并联五杆机构的模型，建立机器人步行机构的实体模型，对其足端的轨迹做了图谱规划，并利用插值法对并联驱动端的特性曲线作了研究，并在ADAMS中进行仿真，将结果与理论值相比较；然后设计了一套四足步行机器人密封装配结构设计方案，建立四足步行机器人单足结构、驱动以及传感器监测的三维实体模型，将机器人的整个控制系统，密封装配在步行机器人的机体中，通过轴传动来驱动步行机构实现步行，采用动态扭矩传感器监测步行机构的驱动关节受到的扭矩变化，从而获得四足步行机器人足端的周围情况，为步行机器人的控制方案奠定了基础；论文的最后在分析步行机器人传统控制传感器的基础上，详细分析了动态扭矩传感器的监测原理，并分几种情况分别分析了其监测原理，并在Pro/E的Mechanism模块中实现了监测原理的仿真与验证，最后给出了传感器监测信息与系统判断之间的关系。

The paper studies some problems about engraving Chinese characters on sphere cavity inner surface for parallel robot,including tool path mapping method from plane to sphere cavity inner surface,circular arc interpolation and cutter-orientation real time planning algorithm etc.

研究了并联机器人在球腔内面雕刻汉字所遇到的若干问题，包括平面刀路向球腔内面刀路的映射方法、圆弧插补及刀具姿态实时规划算法等，给出了算例并用 6 HTRT并联机器人进行了验证，为并联机器人在汉字雕刻领域的实际应用奠定了基础。

Based on the geometry constraint and dimensiondriving technique, a 3-UPU parallel simulation mechanism is created. Then a 3D free surface and a guiding plane of tool path are constituted, with the 3-UPU parallel machine tool combined, a novel 3-UPU simulation parallel machine tool for machining a 3D free surface is created.

通过几何约束和尺寸驱动技术，先建立3-UPU并联模拟机构，再构造任意3D自由曲面和刀具轨迹的引导平面，与3-UPU模拟并联机构合成，得到用于加工任意3D自由曲面的模拟并联机床。

Based on the geometry constraint and dimension-driving technique,a 3-UPU parallel simulation mechanism is created.Then a 3D free surface and a guiding plane of tool path are constituted,with the 3-UPU parallel machine tool combined,a novel 3-UPU simulation parallel machine tool for machining a 3D free surface is created.

通过几何约束和尺寸驱动技术，先建立3-UPU并联模拟机构，再构造任意3D自由曲面和刀具轨迹的引导平面，与3-UPU模拟并联机构合成，得到用于加工任意3D自由曲面的模拟并联机床。

Introduced to be based on Simulink/SimMechanics module collect to undertake emulation the method of research to 3-PTT shunt-wound orgnaization, built emulation model, set each parameter, undertook this motion of shunt-wound orgnaization emulate, reached accurate result, use virtual reality kit realizes shunt-wound to 3-PTT orgnaization to move is fictitious emulate.

概要： 介绍了基于Simulink/SimMechanics模块集对3-PTT并联机构进行仿真探究的方法，建立了仿真模型，设置各项参数，进行了该并联机构的运动仿真，得出了正确的结果，并利用虚拟现实工具箱实现对3-PTT并联机构运动的虚拟仿真。

With Death guitarist Schuldiner adopting vocal duties, the band made a major impact on the scene.

随着死亡的吉他手Schuldiner接受主唱的职务，乐队在现实中树立了重要的影响。

But he could still end up breakfasting on Swiss-government issue muesli because all six are accused of nicking around 45 million pounds they should have paid to FIFA.

不过他最后仍有可能沦为瑞士政府&议事餐桌&上的一道早餐，因为这所有六个人都被指控把本应支付给国际足联的大约4500万英镑骗了个精光。