有角的

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。

I found besides these Chests, a little Cask full of Liquor, of about twenty Gallons, which I got into my Boat, with much Difficulty; there were several Muskets in a Cabin, and a great Powder-horn, with about 4 Pounds of Powder in it; as for the Muskets, I had no occasion for them; so I left them, but took the Powder-horn: I took a Fire Shovel and Tongs, which I wanted extremely; as also two little Brass Kettles, a Copper Pot to make Chocolate, and a Gridiron; with this Cargo, and the Dog, I came away, the Tide beginning to make home again; and the same Evening, about an Hour within Night, I reach'd the Island again, weary and fatigu'd to the last Degree.

我费了九牛二虎之力，才把酒桶搬到小船上。船舱里还有几支短枪和一只盛火药的大角筒，里面大约有四磅火药。短枪对我来说已毫无用处。因此我就留下了，只取了盛火药的角筒。另外我又拿了一把火炉铲和一把火钳，这两样正是我十分需要的东西。我还拿了两把小铜壶，一只煮巧克力的铜锅和一把烤东西用的铁钯。我把这些货物通通装进我的小船，再带上那只狗，就准备回家了。这时正值涨潮，潮水开始向岛上流。天黑后不到一小时，我就回到了岸上，但人已劳累得疲倦不堪了。

Of Lincoln Island, the settlers knew thoroughly all the eastern coastfrom Claw Cape to the Mandible Capes, the extensive Tadorn Marsh, theneighborhood of Lake Grant, Jacamar Wood, between the road to the corraland the Mercy, the courses of the Mercy and Red Creek, and lastly, thespurs of Mount Franklin, among which the corral had been established.

在林肯岛上，居民们彻底了解的地方有：从爪角到颚骨角之间整个的东海岸，宽阔的潦凫沼地，格兰特湖的周围，畜栏路和慈悲河之间的啄木鸟林，慈悲河流域和红河流域，最后，还有富兰克林山的支脉——建立畜栏的那个地方。

The action point of limiting force on retaining structure is not always at 1/3 of the height of retaining structures, but varies with the friction angle δ between soil and retaining structures, the type of limiting state, the failure mode, the internal friction angle φ, and cohesion c of the soil, ranging from 1/5 to 2/3 of the height of retaining structures.

3土体极限荷载P〓的作用点位置不象Coulomb理论中假定的那样，总是作用在墙高的1／3处，而是与土体极限状态的类型、土体的破坏形式、墙土之间的摩擦角δ、土体的内摩擦角φ和粘聚力c有关系，在挡土结构物高度的1／5到2／3的范围内取值。

The results show that, with the expansion cone angle remaining unchanged, the sizing length of expansion cone does not have much effect on the residual stress of casing after expansion, but it has much effect on the expansion force required by tube expansion. The expansion cone angle has no effect on the maximum residual stress of casing, but it has remarkable effect on expansion force. When the radial component force of expansion force is greater than the material's tensile strength, the damage to the material will arise.

研究结果表明，在膨胀锥锥角保持不变的情况下，膨胀锥定径长对膨胀后套管的残余应力没有太大影响，但对套管膨胀所需要的膨胀力有较大影响；膨胀锥锥角对套管最大残余应力没有影响，但对膨胀力的影响十分明显，当膨胀力的径向分力大于材料的抗拉强度时，材料将发生破坏。

The main components of the lathe are the headstock and tailstock at the oppoaite ends of a bed,and a tool-post between them which holds the cutting tool.the tool-post stands on a cross-side which enblesit to move sidewards across the saddle or carriage as well as along it,depending on the kind of job it is doing.the ordinary centre lathe can accommodat only one tool at at time on tool-post,but a turret lathe is capable of holding five or more tools on the revolving tueeet.

刀架位于一个纵面板上，小拖板使刀架能够根据加工操作的不同作纵向移动；同时又随大拖板作横向移动。普通顶尖车床只能在刀架上夹持一件刃具，但六角车床可以在其旋转的六角刀架上夹持五件或更多的刃具。车床的床身必须很牢固结实以避免在受力的时候弯曲和变形。请提问的同学最好参观一下工厂的金属切削/机加工车间。那里有车床，还有其他种类的金属切削机床。

At first, an ordinary gear train composed of two gear pairs is analyzed. The constituting principle and the equivalent gear pair of a ordinary noncircular gear train are studied under two assembling circumstances, including phase angle exists between two gear pairs or not.

以分析两对齿轮副构成的定轴轮系为非圆齿轮机构分析的起始点，本文首先分析了两对齿轮之间有相位角与无相位角两种安装情况下，定轴轮系的构成原理与轮系等价齿轮副的传动关系。

Work on mesoscopic superconducting films has demonstrated interesting new features associated with the interplay between fluxions and artifacts.

在超导材料方面，生长出具有国际一流水平的氧化物高温超导单晶；在铁基高温超导材料方面，获得最高的超导转变温度；在超导机理的研究方面，建立了一些行之有效的手段，如低温比热、隧道谱、角分辨光电子谱、红外光电导谱等等，利用这些重要手段获得了一些重要结果，如从比热角度提出欠掺杂氧化物超导体应该具有一个费米弧基态，利用高精度角分辨光电子谱测量第一次观察到115meV和150meV两个新的高能量精细结构。

Cartoonist William Nearly describes it this way your feet and hands are attached but your upper body can move around the center of the bike in a cone shape when you stand you simply get a bigger cone of movement which allows you to have more control over the bike moving your body around also allows you to shift the focus point of your weight from seat to pedals to handle bars you can add weight to either wheel to improve traction for breaking climbing or turning.

漫画家—威廉描述：虽然脚和手是固定的，但可以身体却可以角锥状地活动，当你站起来可以把中心移到双脚而得到更大的角锥体移动，那会让你有更大的空间改变重心，让前后轮得到煞车、爬坡和转弯的最大抓地力。

The resulting vertical and horizontal slant angular displacement of bullet in half constraint region was presented during gun-firing, and the influence of rotor rotational speed and barrels clamp cone angle on initial ballistic dispersion were also discussed.

结果表明，半约束期内旋转离心力和身管组半锥夹角导致的科氏力对弹丸起始扰动有影响，同时弹丸偏角将随着身管转速的增加而线性增加，特别是高射速时，弹丸的偏角更大，这些可为转管武器的射击精度研究提供参考。

This one mode pays close attention to network credence foundation of the businessman very much.

这一模式非常关注商人的网络信用基础。

Cell morphology of bacterial ghost of Pasteurella multocida was observed by scanning electron microscopy and inactivation ratio was estimated by CFU analysi.

扫描电镜观察多杀性巴氏杆菌细菌幽灵和菌落形成单位评价遗传灭活率。