蛇形运动

ADAMS. According to a function with STEP5 has features of continuous first and second derivative,the higher degree of approximation,etc.,we test and verify feasibility of fore-and-aft movement and turning gait of the robot. Thus a solution of the Snake-like robot motion under the ADAM...

ADAMS软件对蛇形机器人进行了从样机模型建立到运动学仿真与分析等一系列研究；并根据STEP5函数具有一阶与二阶导数连续、较高的逼近程度等特性验证了蛇形机器人前后移动和左右转弯步态可行性；找到了一种在ADAMS环境下求解机器人运动的方法，简化了理论计算，提高了设计效率。

To establish a universal and easily controlled gait for practical use of snakelike robot movement, an inchworm locomotion gait model based on a serpenoid curve is presented.

为了建立一个可实际应用于蛇形机器人运动的通用且易于控制的步态，提出了一种基于serpenoid曲线的蠕动步态模型。

The gait model is suitable for different inchworm locomotions of a snakelike robot whose traveling waves are formed by different numbers of identical links.

该步态模型可适用于运动波形由不同连杆数组成的蛇形机器人的蠕动，波形连杆较多或连杆夹角较大均可获得较大的运动速度。

A particularly investigation is carried out to the observibility of in-flight alignment using numerical simulation when the aircraft performs four kinds of basic maneuvre, namely linear acceleration, yawing, pitching and rolling. The thesis summarizes the two kinds of maneuvre. Simulation results show that the precision of transform alignment reach 5 minutes in 10 seconds if the aircraft performs two well-defined maneuvres.

首先本文采用数值分析的方法研究了直线运动、航向角运动、俯仰角运动和横滚角运动对传递对准系统可观性的影响规律；再结合飞机的实际运动，给出了空空导弹传递对准时的飞机飞行轨迹；"蛇形"飞行轨迹和摇摆运动飞行轨迹，仿真结果表明：按这两条飞行轨迹机动，在10s内传递对准精度可达到5′以下。

To implement this guidance law, the thesis purposed one new target state model and adaptive algorithm for radar homing missile attacking maneuvering target, which is based on the slowly changing of the tangential acceleration and the normal acceleration of the spiral maneuvering and snaking maneuvering in target trace frame coordinate system, and on that the most of them equipped with Strapdown Inertial Navigation System, to meet the demand of the advanced homing missile to target state, It can estimate target position, velocity and acceleration accurately by real-time processing.

为了实现该制导律，重点针对先进自寻的制导律对目标机动运动状态的需求和导弹系统大都具有捷联惯导系统的条件，基于目标螺旋机动和蛇形机动的切向加速度和法向加速度在目标轨迹活动标架上缓变的特点，本文提出了一种建立在目标轨迹活动标架上的运动状态方程和扩展观测方程的自适应估计算法。

The influence of the steering wheel alignment parameters (consisting of caster, king-pin inclination, camber and toe-in) and tyre meandering frequency on the vehicle shimmy is systematically studied. Some new conclusions having practical value are obtained and proved by the road test.

利用所建的汽车摆振数学模型，系统地研究了转向轮定位参数（包括主肖后倾角，主肖内倾角，车轮外倾角和车轮前平角）和轮胎蛇形运动频率对汽车摆振的影响规律，获得了许多新的具有实用价值的结论，并得到了道路试验结果的证实。

Tangshan City, the old single-storey houses for the old-fashioned, turned into rubble after the earthquake; the new urban area are multi-storey brick-concrete structure buildings, wiped out almost collapsed; reinforced concrete frame structure is also not spared the high-rise buildings, railway track occurred in snake shape distortions or subsidence as a result of the roadbedcheng bo lang style ups and downs, have a large surface cracks, the general collapse of a bridge destroyed, seismotectonic cracks extended up to 8 kilometers, with cracks near the ground motion is very alarming, two of its more than 200 meters within the scope of even the people air have been thrown.

唐山市老区多为老式单层民房，震后变成一片瓦砾；新市区大多是砖混结构多层建筑，几乎倒塌殆尽；钢筋混凝土框架结构的高层建筑物亦未能幸免，铁路轨道发生蛇形扭曲或由于路基下沉而呈波浪式起伏，地表产生宽大裂缝，桥梁普遍塌毁，地震构造裂缝延伸达 8公里，裂缝带附近的地面运动非常惊人，其两则200多米的范围内连人都被抛向空中。

When read more different study word the snake like robot joint is designed. In this word ADAMS software were used to simulate snake like robot motion on the ground. After input different signal the snake like robot can motion with different shape, when compared with biology snake, get the snake like robot can exhibition the strongpoint of the biology snake.

本文参考相关技术文献并结合自身特点设计了蛇形机器人关节模块的机械结构，并引入了多体动力学仿真软件ADAMS 对蛇形机器人关节模块进行运动状态仿真，模拟出不同输入信号下的运动状态，再与生物蛇的运动状态比较，得出蛇形机器人关节模块组合后能够发挥出生物蛇的运动优点。

Then the experiments for testing the motion of the three reconfigurations are expatiated in the paper. The conclusions obtain from the experiments think that the design of module is reasonable and reliable.

文章阐述三种形态的重组：蛇形、履带形、四足形，对这三种重组方式的运动进行实验，实验结论证实模块结构设计合理并且具有较好的可靠性。

On the other hand, the more important thing is because the urban housing is a kind of heterogeneity products.

另一方面，更重要的是由于城市住房是一种异质性产品。

Climate histogram is the fall that collects place measure calm value, cent serves as cross axle for a few equal interval, the area that the frequency that the value appears according to place is accumulated and becomes will be determined inside each interval, discharge the graph that rise with post, also be called histogram.

气候直方图是将所收集的降水量测定值，分为几个相等的区间作为横轴，并将各区间内所测定值依所出现的次数累积而成的面积，用柱子排起来的图形，也叫做柱状图。