运动学

With mathematical calculation on matrices, the transformation formula between tool and workpiece is obtain to build a kinematics model for rotary broaching.

首先，依据数学矩阵运算的方式，推导刀具与工件之间的座标转换公式，建立一套旋转拉孔的运动学模式。

The methods of trajectory planning and trajectory generating are analyzed both in joint coordinates space and Cartesian coordinates space based on kinematics of robot.

在机械手运动学和动力学的基础上，讨论在关节空间和笛卡儿空间中机器人运动的轨迹规划和轨迹生成方法。

Based on the Jacobian's matrix, the static equations in both Cartesian space and joint space are also derived.

根据机构本身的特点，求出了机构运动学的正、反封闭解及其雅可比矩阵。

The system can display in 3D the robots with higher quality graphics on PC by adopting the solid model technology, and modify the model of robots according to the size given by users, so that the parametric modeling is realized under interactive mode. It realizes the graphics simulation of robots in kinematics in both articulatory space and Cartesian space, and it also realizes the animated simulation of trajectory of linear interpolation in point-to-point mode.

该系统采用实体造型，能在微机上显示较高质量的机器人的三维图形，可以按照用户给出的尺寸修改模型，在交互方式下，实现机器人的参数化造型；系统能够在关节空间和笛卡尔空间中进行运动学的图形仿真，能进行点到点直线插补轨迹的动画显示，机器人的动作可以示教再现，也可以由程序设定。

The algorithm GS to solve the problem of inverse dynamics based on the optimal theory is proposed, by using the numerical methods of Gill and shooting target, the optimal joint driven torques are obtained With the smooth joint trajectory motion, a fast and stable inverse dynamics method is proposed, it provides a new effective way to control the flexible manipulator The trajectory planning in the joint space and Cartesian coordinates is especially discussed In terms of kinematics of space flexible link manipulators, a sequential integration method for inverse dynamic analysis of flexible manipulators is developed The concrete results of simulations tested and verified the validity of proposed methods, and some valuable conclusions are achieved.

提出了求解基于最优理论的柔性臂逆动力学问题的GS法(Gill—Shooting method)，得到了柔性臂关节的最优驱动力矩；提出了基于光滑关节运动轨迹的柔性臂逆动力学的快速稳定方法，为柔性臂控制提供了一条新的途径；探讨了关节空间和直角坐标空间柔性臂的轨迹规划问题；研究并完善了结合柔性臂运动学的顺序积分的逆动力学方法。通过具体实例的仿真研究，验证了所提出的柔性臂逆动力学方法的有效性，得出了一些很有价值的结论。

The kinematics of precision centrifuge isanalyzed in Chapter 2 adopting Homogeneous transformation and vector analysis.The calculating formulae of centripetal acceleration generated by precision centrifugeand acceleration acting on input axis, output axis and pendulous axis of accelerometerare deduced in theory under various conditions.

论文第2章首先用齐次变换法和矢量分析法对精密离心机的运动学进行了分析，从理论上推导出离心机产生的向心加速度的计算公式，以及各种条件下作用在加速度计输入轴、输出轴和摆轴上的加速度。

The press further comprises a water tank and a water pump that is cinematically linked to and actuated by the pressing arm for spraying water on the item to iron during the opening/closing of the pressing arm.

熨烫机还包括水槽和水泵，水泵运动学连接到挤压臂(2)并由挤压臂驱动以在挤压臂的张开/关闭过程中向所要熨烫的物品上喷水。

Therefore, it is need to add axles to meet the requirement of the large-tonnage truck crane in the classis design, and thus double axles steering or multi-axle steering truck cranes have emerged as the times require, which make the research and analysis of the multi-axle steering system kinematics become more and more important.

为此，在汽车底盘设计上需要通过增加汽车的车轴来适应大吨位车辆的需求，于是出现了双桥或更多桥转向的车辆，使得对多桥转向系统运动学的分析与研究变得日益重要。

Kinematics from the speakers, it is stable, which is the optimal shield in the box-stent and the stent Crib 1:00, Leung also cover is closed goaf, so as to prevent the rock into the broken roof support Face.

从运动学讲，它是稳定的，这是掩护式支架最优于框式支架和垛式支架的一点，掩护梁也完全封闭了采空区，从而能够防止破碎顶板岩石掉入支撑工作面。

Kinematics fromthe speakers, it is stable, which is the optimal shield in thebox-stent and the stent Crib 1:00, Leung also cover is closed goaf,so as to prevent the rock into the broken roof support Face.

从运动学讲，它是稳定的，这是掩护式支架最优于框式支架和垛式支架的一点，掩护梁也完全封闭了采空区，从而能够防止破碎顶板岩石掉入支撑工作面。

Breath, muscle contraction of the buttocks; arch body, as far as possible to hold his head, right leg straight towards the ceiling (peg-leg knee in order to avoid muscle tension).

呼气，收缩臀部肌肉；拱起身体，尽量抬起头来，右腿伸直朝向天花板（膝微屈，以避免肌肉紧张）。

The cost of moving grain food products was unchanged from May, but year over year are up 8%.

粮食产品的运输费用与5月份相比没有变化，但却比去年同期高8％。