空间运动

Its Principal component analysis is used to establish a contact high-dimensional data space and movement style annihilator low-dimensional space mapping.

本方法基于子空间技术。主成分分析方法被用来建立一个联系高维运动数据空间和低维风格化子空间的映射。

First, the paper introduces the moving coordinate system based on the curve tangent vector and the curvature component vectors. Next, the total curvature vector is composed and the osculating plane determined in the moving coordinate system. The curve bending is then calculated and the recursion analysis made on the osculating plane.

鉴于空间曲线上曲率采集面的变化，引入了由曲线切向量和曲率分量决定的运动坐标系，接着在运动坐标系中合成曲率矢量，确定密切平面，然后在密切平面中对曲线进行弯曲计算和运动坐标系的变换分析，并对相关公式进行了推导。

In this thesis, with the aid of the method of reconstructive direction cosine matrices of the analysis and synthesis of spatial mechanism, the more overall and systematic theoretical research is done about trident-bar universal joint and drawn some useful conclusions about kinematics analysis, dynamics analysis, kinematical precision analysis, vibration analysis, simulation and experimental results analysis, mechanism type selection analysis based method of fuzzy distinguishable pattern, integrated designing prototype system.

本文以改造的方向余弦矩阵为数学工具，以三叉式万向节为研究对象。进行了机构有关的解析求解、仿真和试验结果分析，基于模式识别技术的机构选型及机构的集成设计原型系统，得出了以下结论：(1)采用改造的方向余弦方法适用于空间机构的运动求解及动力求解。它的特点是解析明了，以矩阵方式体现，适合计算机求解。并以万向节为实例进行了万向节的详细的运动分析，建立了求解的各个变换矩阵，得出了机构的详细的运动关系。

If there exists no regular quasi-attractor, the stochastic web, which is formed by the end-results of the image set of the discontinuous border and immersed in a part of the phase space, dominates the system behavior so that iterations are confined inside a part of the phase space in a"chaotic quasi-attractor"(Our research group has discovered the situation where regular and chaotic quasi-attractors coexist in a quasi-dissipative system, but this thesis will not mention it).

当类耗散系统的相空间不存在任何规则类吸引子时，这种由边界象集的归宿构成、浸入局部相空间的随机网将主宰系统，从而出现约束在局部相空间中的"混沌类吸引子"上的运动（本课题组已发现类耗散系统中规则类吸引子与混沌类吸引子共存的情况，本文未作报道）。

Then we obtained the data of the lower limb motion of the volunteer in gait by motion capture system. Analyzing the results, we found that the relative positions of the landmarks which were used to construct JCS did not change much during the movement. That means the method on definitions of JCS in this article was reasonable at a certain range.

通过利用运动捕捉系统对自愿者步态过程中的下肢运动轨迹进行采集，分析构建坐标系的特征点在运动过程中空间相对位置的不变性，说明了文章提出的下肢关节坐标系定义方法在一定范围内是合理的。

Kinsiology is the study of the movement of that body through space; to study kinesiology is to put those " letters"together to make the "words" of movement.

运动机能学则是研究躯体在空间中运动的学科。学习运动机能学是将那些"字母"放在一起，形成千变万化的"单词"。

Firstly, several kinds of schemes were proposed according to the design demand. The best scheme was chosen after analyzing and comparing the schemes. The robot's structure was designed with Pro/Engineer and AutoCAD software. Secondly, the kinematics analysis conducted, coordinate transformation matrix using D-H method was set up, and the kinematics equation direct solution and inverse solution was deduced. The manipulative interface about the kinematics equation direct solution and inverse solution was completed with VC++ and the velocity Jacobian of displacement matrix was constructed using differential transform method. In the process of the trajectory planning based on robot's kinematics analysis, I propone a method by which we can get middle nodal point with normalizing factor in order to simplify our searching for these middle nodal points. In addition, I give these middle nodal points with actual physics signification. For eliminating contradiction between real-time and accuracy, I bring forward separately limit of error and reversal interpolation method. For decreasing calculation quantity, we resort to tri-spline interpolation in the articulation space.We analyse the work range of the robot by resorting to graphic means.

首先，作者针对机器人的设计要求提出了多个方案，对其进行分析比较后，选择其中最优的方案后用Pro/Engineer和AutoCAD软件进行了机器人模型结构设计；其次，进行了运动学分析，用D-H方法建立了坐标变换矩阵，推算了运动方程的正、逆解，运用VC++制作了正、逆运动学求解的求解界面；并且用微分变换法推导了速度雅可比矩阵；在基于机器人的运动学的轨迹规划中，通过在操作空间的规划，提出了归一化因子来求解中间结点，通过它可以使求解中间结点变得更简单，并且赋予这些中间结点实际的物理含义，对于规划中精确性和实时性的矛盾，提出了以误差极限法和反向插值法来解决的方法；为了减少规划过程中计算量，在关节空间进行三次样条插值；然后借助图解法进行工作空间分析，作出了实际工作空间的轴剖图。

To the problem that the isotropy and the technological efficiency of the parallel kinematic machine based on Stewart platform are not satisfactory, a novel architecture of 6-DOF 3-dimensional platform parallel kinematic machine (6-DOF 3-D PPKM) based on the 2-2-2-SPS 3-D PPR is presented. The technological efficiency of design of the parallel kinematic machine is analyzed. Its workspace and the effect of design parameters to the workspace volume are studied. By using the submatrices of Jacobian matrix and force Jacobian matrix, the kinematics/mechanics transmission isotropic indices, kinematics transmission indices, load-bearing capacity indices at any configuration of the parallel kinematic machine are proposed, respectively.

分析其结构和装配工艺性，研究其定位姿工作空间及机床结构参数对工作空间大小的影响，基于Jacobian矩阵和力Jacobian矩阵中同量纲元素构成的子阵，提出该并联机床在任意位姿的运动／力学传递各向同性评价指标、运动学传递能力评价指标和承载能力评价指标；基于柔度矩阵中同量纲元素构成的子阵，提出该并联机床在任意位姿的力-位置柔度评价指标、力-姿态柔度评价指标、力矩-姿态柔度评价指标和力矩-位置柔度评价指标；研究各性能指标在定位姿工作空间内的分布情况。

Redundant driving structure designed based on a new type of universal Cartesian serial-parallel manipulator, kinetics equations and Euler equations constructed, complete analysis of each jointed points of the moving platform carried out, inverse kinetics solution can be obtained with the given parameters, which include the position and orientation of the manipulator, applied force on the output shaft, parameters of motion of output shaft and connecting bar and sliding block, computer programming adopted to get the valid data and its figure, thus found the perfect show of this redundant driving structure compared to the primary mechanism without redundant driving.

对全新结构的万能直角串并联机构进行冗余驱动设计，通过建立动力学万程和欧拉方程，对机构的动平台各输入铰点处的受力状况进行了全面的分析，已知机构在给定空间位置和姿态下的输出端的受力、主轴的运动参数、连杆的运动参数、水平和垂直运动滑块的运动参数时，可以反向求解机构约动力学反解，通过计算机语言编程计算和绘图得至（直观有效的结果数据，由此得知冗余驱动在改善原机构的动力学特性方面的良好表现。

In this paper, a path planning method based on GA is presented. Firstly, the model of the space robot is built to display the mapping of the end velocity and the joint velocity. Then the optimal algorithm based on genetic algorithm is presented to search the optimal solution which minimizes the disturbance of base attitude in the feasible solution space. Finally, an illustrative example is used to verify the feasibility of the algorithm.

基于GA研究机械臂运动对基座的姿态扰动问题，首先，建立空间机器人的运动学模型及空间机器人末端与关节速度之间的映射关系；接着，应用GA作为最优化算法，在空间机器人可行解空间中，寻找最优解得到最优路径，以达到对基座姿态干扰最小的目的；最后，通过数值仿真实验验证算法的实用性。

I didn't watch TV last night, because it .

昨晚我没有看电视，因为电视机坏了。

Since this year, in a lot of villages of Beijing, TV of elevator liquid crystal was removed.

今年以来，在北京的很多小区里，电梯液晶电视被撤了下来。