轮形的

Analyse the tooth geometry of Klingelnberg Cyclo-Palloid spiral bevel gear.,according to the relative position and kinematic relation of the cutter heads,virtual crown gear and the processed wheel blank,established the system of coordinates of the gear cutting, dedcuced the tooth face equation of the virtual crown gear, according to relations of the gear cutting and space theory of engagement, deduced the tooth face equation of klingelnberg Cyclo-Palloid spiral bevel gear, and drawing the three-dimensional graphs of the virutal crown gear and Klingelnberg Cyclo-Palloid spiral bevel gear according to the design and setting parameters.

根据铣齿加工中刀盘、摇台和轮坯的相对位置和相对运动关系建立了切齿啮合坐标系，由矢量的旋转推导了产形轮齿面方程；根据空间啮合原理和切齿啮合关系推导了被加工齿轮的齿面方程；由设计参数和铣齿调整参数计算得到齿面离散数据，绘制了产形轮和摆线齿锥齿轮的三维齿形。

Basal leaves often withering early; petiole 1.2--1.5 cm. Stem leaves usually in whorls of 4, sessile or petiole to 2.2 cm, densely villous; leaf blade long ovate or ovate-oblong, 2--5 X 1.1--2.2 cm, abaxially whitish scurfy, adaxially sparsely pubescent, pinnatifid; segments triangular-ovate to long ovate, dentate.

基生叶通常早枯萎；叶柄1.2-1.5 厘米茎生叶通常在4，无梗或叶柄在2.2厘米，密被长柔毛轮生方面；叶片长卵形或卵形长圆形，2-5 X 1.1-2.2厘米，背面带白色具鳞屑，正面疏生短柔毛，羽状半裂；裂片三角状卵形的到长卵形，具牙齿。

After the low load capacity reason of the sprocket wheel was analyzed, the methods of increasing the load capacity were given from three ways: determining the structure of the rolling wheel, choosing the pressure angle of the tooth sharp and decreasing the friction of the tooth face.

分析了星轮承载能力低的原因，并从辊轮结构的确定、齿形压力角的选择、齿面摩擦的降低等三方面给出了提高星轮齿面承载能力的措施。

Margins of lower glume of sessile spikelet broadly rounded in lower part, narrowly inflexed and keeled above, not coarsely rugose or knobbly

茎生叶卵形的心形到卵形的或三角状卵形，长于宽；在圆筒状，更多里的轮状聚伞花序拉长穗状花序。

Perianth usually with 1 petaloid whorl (in Saruma with 2 whorls: outer one sepaloid, inner one petaloid), mostly connate into distinct tube, cylindric to campanulate or subglobose; limb rotate, urceolate, cylindric, or ligulate, 1-3-lobed; lobes valvate.

花被通常形成管状一轮(在马蹄香属里有花被2轮：外部一个萼片状，内部一个花瓣状)，大部分合生成显著的管，圆筒状钟形的或近球形；花被管螺旋状，瓶形，圆筒状，或者舌状，1-3 分裂；裂片镊合状排列。

Leaves alternate, rarely verticillate, oblanceolate to linear-lanceolate

叶互生，很少轮生，倒披针形的到线状披针形 77 S。

Leaves basal and on stem, opposite, rarely in whorls of 3, lanceolate to ovate, pinnatifid to pinnatisect.

叶基生和在茎上，对生，很少3轮生，披针形的到卵形，对羽状全裂羽状半裂。

On the basis of the modification theory, relative modification concept of cycloidal gear pair and the appraisal index of the initial backlash are built to solve the problem that cycloidal gear works unsmoothly in pin wheel of the full-hydrostatic steering control units. The major goal of modification is a uniformity of initial backlash, so equidistance modification that has good effect on improving quality of fluid cycloidal pair is chosen.

为解决全液压转向器转子转动不灵活的问题，在分析现有摆线针轮啮合副齿廓修形理论基础上，建立摆线副修形的相对性概念和间隙分布评价指标，提出无系杆摆线副修形的主要目标应使初始间隙分布均匀，选择的修形方式为等距修形。

Used especially of flowers whose parts are arranged in spirals rather than in whorls, as in magnolias.

非轮列的非轮状的，特指花朵的排列是螺旋形的而非轮状的，如木兰花

In this paper RoboCup Mid-size Robot are the object of study from the two sides of the robot system and the system of multi-robot cooperation, the main research results are as follows: First, this paper reasearches the problom of the hardware and software architecture of Mid-size robots. According to the real-time requirements of the competition, the paper designs the mechanism of omni-direction wheels, which achieves a great improvement on the traditional mechanism of two wheels robot, and a more flexible response. This mechanism can adapt well to the increasingly rapid pace of the competition. In allusion to the mechanism of omni-direction wheels, this paper designs the electrical control system of three nodes in the bottom, which could communicate fast to the laptop with serial port and match the real-time requirements well. According to the problom of hitting power and speed of robot when shooting, this paper designes a motor-driven tongue-shaped spring shooting mechanism, which has a simple mechanical structure, smaller space in size and simple control circuit. This shooting mechanism meets the real-time requirements of the competition better.

本文以RoboCup中型机器人作为研究对象，分别从机器人自身系统和多机器人协作系统两个方面进行了研究，主要研究成果如下：首先，研究了中型机器人的软硬件体系结构问题，针对实时比赛的要求，提出了万向轮机构的设计方案，大大改进了传统两轮机器人结构，动作反应更加灵活，该机构能够很好的适应节奏越来越快的比赛；针对万向轮机构，设计了3节点的底层电机控制系统，它可以通过串口与上层笔记本电脑快速通讯，能够很好的实现实时工作要求；针对机器人射门时击球力量和速度的问题，设计了一套电机驱动的舌形弹簧射门机构，机械结构简单，占用空间体积小，控制电路简单，较好的满足了比赛中实时射门的要求。

It has been put forward that there exists single Ball point and double Ball points on the symmetrical connecting-rod curves of equilateral mechanisms.

从鲍尔点的形成原理出发，分析对称连杆曲线上鲍尔点的产生条件，提出等边机构的对称连杆曲线上有单鲍尔点和双鲍尔点。

The factory affiliated to the Group primarily manufactures multiple-purpose pincers, baking kits, knives, scissors, kitchenware, gardening tools and beauty care kits as well as other hardware tools, the annual production value of which reaches US$ 30 million dollars.

集团所属工厂主要生产多用钳、烤具、刀具、剪刀、厨具、花园工具、美容套等五金产品，年生产总值3000万美元，产品价廉物美、选料上乘、质量保证，深受国内外客户的青睐