运动学

Base on the elastic-plastic contact theories, the calculation model of restitution coefficient both in normal and tangential impacting direction are studied.

本文将以弹塑性接触理论为基础，研究了滚石法向恢复系数、切向恢复系数的计算方法，运用运动学的基本方程研究了滚石在坡面上的运动特征，推导了相关的公式。

There is a small action range in archery.Simple methods and analysis is inadequate,so the author,on the basis of testing the archery athletes in national team with the Qualisisy infrared photoelectric testing system,Footscan sole pressure testing system,Noraxon myoelectricity remote testing system, etc,analyzes comprehensively the action technique of the athletes in national team from the posture,body motion characteristics,body posture equilibrium and stability,distribution of centre sole pressure, myoelectricity characteristics,etc,with the methods of relative software and data statistics.The conclusions and the suggestions are as follows:Conclusion:Firstly,the communality of posture angle,muscle strength,the activation order of main muscle during raising the bow, raising the bow and the timing of the raising could be used as the evaluation index of technique action in archery;Secondly,the length of the time needed in the different periods couldn\'t be used as technique evaluation index since it has no relation with the result.But the time of raising and pulling back the row is relatively fixed,and the time has a positive relation with the archery achievement of the national team in China.Thirdly,the central index of the sole pressure could be used as the reference criterion of selecting athletes and forecasting achievement.During playing archery,the interrelation between the central index of the sole pressure and the achievement is different individually and in different periods.Fourthly,there is low stability of the archery athletes in the front and back direction during the action, caused by the athletes\' posture disequilibrium of dorsal abdominal muscle and non-professional sport shoes..Fifthly,kinematics and electromyography shows that the people on archery in China haven\'t taken the raising and pulling back the row seriously.

射箭的肢体动作幅度小，简单的手段和分析不能满足其需要，笔者结合各种运动生物力学仪器优点及射箭项目的特性，选用Qualisisy红外光点测试系统、Footscan足底压力测试系统、Noraxon肌电遥测系统等对国家队射箭队运动员进行多方位的测试，运用相关软件及数理统计方法，对运动员的射箭动作技术，从射箭动作的姿态构架、肢体运动特点，身体姿态平衡稳定性、足底压力中心分布、肌电特性等进行全面分析，结论及建议如下：结论：第一，姿态角、肌肉用力激活程度、举弓阶段主要用力肌肉激活顺序、举弓、开弓时间等的一致性可作为射箭技术动作评价指标；第二，各动作阶段所用时间的长短不能作为技术评价指标，但举、开弓的时间相对较固定，开举弓时间比与中国国家队射箭成绩正弱相关达到显著性；第三，闭眼状态下足底压力中心单位面积轨迹长与144支箭最好成绩正相关达到显著性，可作为身体素质、选材及成绩预测的参考依据；实射时身体平衡的足底压力中心指标与成绩的相关程度具有个体性差异、阶段性差异；第四，射箭运动员实射时身体在前后方向上的稳定性较差，这与运动员的站立姿态、腹背肌力量的不匹配以及射箭没有专业运动鞋有关；第五，运动学及肌电学都表明中国射箭训练对举弓、开弓阶段的重视不够，背部肌肉用力特征不明显，撒放技术合理性不高。

The article uses the great computus ability and control ability of AT91FR40162, and combines them with some of the merits of intellectual calculation, and thus realizes high-speed and real-time on-line interpolation, error compensation and complicated calculation in kinematics, makes movement control more accurate, faster and steadier. It also makes full use of superiority of Internet, reduces the number of system lines by Internet connection, raises the practical use of systems and reliability of information exchange.

这篇文章利用具有ARM核微处理器──AT91FR40162的强大运算能力和控制功能，结合智能算法的某些优点，实现高速实时在线插补、误差补偿和复杂的运动学计算，使得运动控制精度更高、速度更快、运动更加平稳，同时充分利用网络技术优势，通过网络连接方式减少系统的连线，提高系统的实用性和信息交互的可靠性。

Then, based on the configuration and design principle of the wafer handing robot, the model of the wafer handing robot arm is established. The radial linear concertina motion of the wafer handing robot is analyzed, a type of mechanism that can implement the function is proposed, furthermore, the kinematics of the mechanism is analyzed.

其次，根据硅片传输机器人的构型与设计原则，建立了机器人手臂的模型，对硅片传输机器人的径向直线伸缩运动展开分析，提出了实现该运动的机构，并对机构进行了运动学分析。

Then, the kinematic model is modeled and the mobility is discussed in the paper. And the motion condition equation of the robot is gotten in sequence.

然后，建立了机器人的运动学模型，并讨论了机器人的移动性问题，得出机器人存在运动的条件。

The kinematic and dynamic analysis indicates the scheme of contrapositive can engines is completely feasible.

从发动机力学性能特点及运动学与动力学角度分析表明，采用对置式发动机方案是完全可行的。

Through coordinate transformation, a kinematics model was established.

基于坐标变换，建立运动学模型。

By means of the curcuit mapping transformation developed in electrical network analysis, it is proved that the total reaction forces and moments are not independent but ran be linearly represented by two sets of independent ones, namely, cotree forces and cotree moments, respectively.

本文根据研究内容不同分成两篇，第一篇提出了一种基于网络分析方法的平面连杆机构运动学和静力学理论研究体系，侧重探讨和揭示了机构运动和力分析数学模型的内在联系，研究了机构组成的计算机辅助识别原理、策略、方法及软件设计技术。

Based on the foundation of the virtual prototype model of the medium-speed maglev train, using the mechanical dynamics and kinematics analysis software ADAMS, this paper expatiates on the following things. Firstly, it analyses the decouple of single magnetic bogie by the simulation and experimentation; secondly, adds the magnetic levitation control system to the single magnetic bogie model and simulates; thirdly, by simulating the motion of the train running on the different type of guideway, analyses the state of the train on the ramp and crankle;in the end ,this paper does a further research on how the magnetic levitation control system and guideway parameters affect the suspending gap when the train runs on the ramp and crankle .

论文在建立了中低速磁浮列车虚拟样机模型的基础上，借助于机械系统运动学及动力学分析软件ADAMS，首先从单转向架出发，仿真分析了磁浮列车单转向架的解耦能力；接着对单转向架样机模型进行了控制系统的仿真；然后对一辆整车在竖曲线和平曲线的运行在ADAMS中进行了仿真，分析了列车在坡道和弯道上的运行状态；最后对磁浮列车在坡道和弯道上运行时的系统性能进行仿真分析，进一步研究了控制系统和线路参数对磁浮列车悬浮性能的影响。

A new type mating device is designed which has a cupule at each end of manipulator. Kinematics analysis, structural design of mating device and motion equations are also given in this paper. At the same time, the motion of manipulators position and posture are analyzed according to the auto-mating tactic.

本文进行了基于吸盘结构的水下运载器主动对接装置的结构设计，对装置进行了运动学分析，结合机械手的实际结构，推导出机械手末端吸盘的运动方程，并根据主动对接作业策略进行了机械手位姿变化的分析。

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％。