轨迹

It would also help to obtain integrity trajectories of saltating sand grains by extending bitty saltating trajectories grained from wind tunnel experiment in order to understand deep sand grain saltating motion.

这项研究为跃移沙粒运动参数分布函数研究提供了一条新思路，有助于将风洞实验获得的沙粒跃移运动的片断轨迹拓展，进而获得沙粒跃移运动的整个轨迹，以便深入理解沙粒跃移运动。

We found that the action integrals correspond to the constants of motion of the quantal levels.

即周期轨迹中短周期轨迹的作用量的整数值正好可与量子态有对应关系。

The prograde path was related to the magmatic accretion in arc settings, indicating the existence of an arc setting during the MesoproterozoicNeoproterozoic period. The retrograde near-isobaric cooling path after the peak metamorphism reveals that rapid erosion did not occur and sustained heat supplies from the upper-mantle were maintained after magmatic accretion in the Yuanmou area.

该轨迹的进变质阶段与岛弧地区的岩浆增生过程密切相关，指示元谋地区在中-新元古代期间(1.0～0.85Ga)存在岛弧构造环境；峰期之后的近等压冷却退变轨迹表明该地区未经历强烈的剥蚀，并可能有深部热流的持续供给。

The paper provided an effective method of estimating project and improving working characteristic of loading mechanism through making mathematics model and simulating curve of track and rate and acceleration and pawls power.

通过建立适当的装载机构数学模型，模拟单、双耙爪爪尖的轨迹、速度、加速度、耙取力曲线，并且通过改变转盘速度对轨迹各段的速度、加速度、耙取力的特性进行研究，为评价设计方案、改善装载机构性能提供一种有效的手段。

In order to reduce geometric errors between motion trajectory and work piece curve,this paper present a means of controlling trajectory motion law to replace traditional position control.

为了减小刀具运动轨迹与工件几何曲线的误差，提出将传统的位置控制改为物理运动规律控制，即建立数控机床的运动模型，分析被加工轮廓的曲线方程、加工工艺运动要求与刀具加工运动的合成或分解关系，推导出轨迹运动方程组。

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。

We are all too familiar with tanned hefty young instructors trying to carve a 17 meter radius turn around a tree, riding a ski edge that is cut for a 12 meter radius. Since the edge cut restricts the turn to a 12 meter track, they usually hit the tree, unless they sideslip out of their carving rail.

众所周知，当健壮的年轻教练们要用12米半径的刻滑板绕一棵树刻滑出17米半径的轨迹时，由于板刃限制的刻滑半径为12米，通常他们会撞树，除非轨迹侧滑。

On applying the theory of differential geometry, the research shows the procedure for determining the required cutter path for cutting conical cam profile using a NC milling machine based on the analytical profile expression of conical cam with oscillation conical roller follower or with a translating conical roller follower established in 3D space. The analytical expression of cutter path is provided for a tapered endmill cutter, whose size may be identical to or smaller than that of the conical roller.

应用微分几何理论，以在3维空间所建立的圆锥滚子摆动从动件和直动从动件圆锥凸轮机构凸轮廓面的解析表达式为基础，对数控铣床加工圆锥凸轮廓面所需刀具轨迹方程的建立方法进行了研究，根据所采用的锥形刀尺寸等于或小于圆锥滚子尺寸的情况，推导出相应的刀具轨迹方程的解析表达式。

The first one is Vector Pursuit which is based on Screw Theory. The second one is Replicate Line Method presented by this thesis which is presented according to the skid-steering property of track-laying mobile robot and the constraint of its working environment. Thirdly, use the path tracking method proposed by Kanayama for reference to control the robot moving for the current position to the desired position with the desired velocity, so make the path tracking process more precise.

然后从运动学方面，根据机器人当前位置与目标点的位置偏差和角度偏差，采用基于螺旋理论的向量追击法，以及本文根据履带式移动机器人运动特点和工作环境特点提出了的轨迹跟踪方法，折线法，来确定机器人的期望运动；再借鉴Kanayama提出的轨迹跟踪控制方法，对机器人以期望运动速度从当前位置运动到目标点的过程进行控制，从而进一步精确了跟踪过程。

A milling method of space index cam s on 2-Axis NC machine;2. In this paper some equations of moving track of tool to mill different space index cam s are presented and can be directly applied to practice.

给出了加工各种空间分度凸轮的刀具运动轨迹方程，可以直接应用于生产实际，并介绍了在 Auto CAD上实现空间凸轮刀具中心轨迹的动态仿真和三维几何造型的方法。

And Pharaoh spoke to Joseph, saying, Your father and your brothers have come to you.

47：5 法老对约瑟说，你父亲和你弟兄们到你这里来了。

Additionally, the approximate flattening of surface strip using lines linking midpoints on perpendicular lines between geodesic curves and the unconditional extreme value method are discussed.

提出了用测地线方程、曲面上两点间短程线来计算膜结构曲面测地线的方法，同时，采用测地线间垂线的中点连线和用无约束极值法进行空间条状曲面近似展开的分析。