运动学

In order to find out the biomechanics feature of three joints muscles o f lower limbs by using new skates in push-off phase of speed skating, this article combines the kinetic data obtained by Cybex-Norm and kinematic data obtained by tridimensional analytics by employing the Newton interpolation polynomial f or the first time, draws the curve of muscles moment of two elite female speed- skaters in push-off phase of speed skating, and analyzes the change feature of muscle strength, so as to find out the reasons of less power output and provide reference for training and the improvement of sports results.

摘 要：为了找出使用新冰刀后蹬冰时下肢三关节肌群的生物力学特性，首次利用数值计算中的牛顿插值法，将等动测试获得的动力学数据和三维立体解析获得的运动学数据结合，绘出两名优秀女子速滑运动员实际蹬冰时肌群力矩的变化曲线，并分析肌力变化特点，找出两人做功明显不足的原因，为指导训练和提高运动成绩提供定量依据。

The kinematic model for the spherical robot was established according to the nonholonomic constraint acting on it.

根据机器人所受的非完整约束，建立了其运动学模型。

Forward and inverse kinematics, velocity and acceleration problems were solved in detail via complex number notation in this dissertation.

本文采用复数向量表示法详细分析了机器人的运动学的正、逆问题，速度、加速度正、逆解问题。

Using Matlab and its Add-ons Simulink, through establishing simulation maths model, the paper integrates open chain vector equation, numerical value simulation (computing velocity and displacement while given acceleration) and matrix algebra, etc.

利用MATLAB及其附加软件Simulink，通过建立仿真数学模型，综合开环矢量方程、数值仿真(在加速度已知时计算速度和位移)、以及矩阵代数等来完成机器人动态仿真，对所研究的机器人运动学分析结果进行验证，结果基本一致，为机器人的后续研究，如动力学，控制等奠定基础。

As one part of the project, the dissertation is developed with thelocalization problem in mobile robot navigation. Combined with "MobileRobot 1 of Central South university (MORCS-1)", a mobile robot designed byus that equipped with a 2D laser measurement system to sense the environmentand the proprioceptive sensors such as the odometry, gyroscope to calculate itsdead reckoning, the approach about the four kind uncertainty factors of mobilerobot localization is studied. These researches include that the error analysisand calibration of position sensors is implemented to reduce the measurementnoise, the 3D kinematic model of mobile robot is built to gain the accuratepose in complex terrain, some work on the automatic detection of static ordynamic obstacles based on laser scanner is investigated to eliminate thedynamic influence of the environment and to realize the reliably absoluteposition, and lastly a robust algorithm is presented to involve the incrementalenvironment mapping and self-localization of mobile robot with unknown dataassociation and to improve the self-localization performance of mobile robotunder unknown environment.

作为该项目研究的一部分，本论文以移动机器人导航中的定位问题为研究内容，利用自行研制的装配有二维激光雷达环境感知系统，并通过里程计、陀螺仪等内部传感器来实现航迹推测的移动机器人"中南移动1号MORCS-1"，重点围绕影响移动机器人系统定位的四类不确定性处理展开研究：通过移动机器人定位传感器的误差分析及校准，旨在消除传感器噪声所带来的测量误差；通过建立移动机器人的三维运动学模型进行航迹推测，以期实现复杂地形下精确的移动机器人本体姿态感受；通过基于激光雷达的动静态障碍的自主检测等相关研究，尽量消除环境的不确定因素影响进而实现可靠的移动机器人绝对定位；通过以上研究，针对未知数据关联下移动机器人增量式环境建图与自定位的研究提出一种鲁棒的滤波算法，改善未知环境中移动机器人自定位的性能。

Based on water-entry dynamic and water-entry ballistic theories,the oblique water-entry process of disk ogive is simplified and a wetted correction factor is introduced in order to accord with the true water pile phenomena,and an oblique water-entry impact model coupled with ballistic and dynamic models are established.

以冲击体入水动力学和入水弹道学理论为基础，针对平头尖拱体入水冲击这个复杂物理现象，引入体现液面隆起现象的沾湿因子，用等效液面代替自由水平液面，建立了斜入水高速冲击的运动学和动力学冲击模型，其中动力学模型是根据平头尖拱体沾湿面的具体几何形状而建立。

Based on water-entry dynamic and water-entry ballistic theories, the oblique water-entry process of disk ogive is simplified and a wetted correction factor is introduced in order to accord with the true water pile phenomena, and an oblique water-entry impact model coupled with ballistic and dynamic models are established. According to the exact geometric shape of the wetted body surface, the dynamic model is established.

以冲击体入水动力学和入水弹道学理论为基础，针对平头尖拱体入水冲击这个复杂物理现象，引入体现液面隆起现象的沾湿因子，用等效液面代替自由水平液面，建立了斜入水高速冲击的运动学和动力学冲击模型，其中动力学模型是根据平头尖拱体沾湿面的具体几何形状而建立。

On the basis of introduction of kinematic analysis methods, the paper founds the stationary coordinate system and the wheel coordinate system respectively. Meanwhile, the kinematic constraint equations of the standard centered orientable wheel is founded on the assumption that there is no slippage in normal direction and pure rolling in tangential direction of the wheels.

在简要介绍常规的运动学分析方法的基础上，建立了相关的惯性坐标系和滚轮坐标系，并根据滚轮在法向无滑动、切向作纯滚动的假设建立了中心定位轮的运动约束方程。

The paper includes the kinematics of PDC bit, the rock cutting mechanism of a single PDC cutter and multiple PDC cutters, the design theory and method of the spatial orientation of PDC cutter work surface, the arrangement, theory and method for placing PDC cutters onto bit body, and so forth.

研究内容包括PDC钻头运动学、PDC钻头单齿破岩规律、重迭及覆盖条件下PDC切削齿的破岩规律、PDC钻头切削齿工作面空间方向的设计理论及设计方法、PDC钻头设计时的布齿理论及布齿方法等。

Rheology is the liaison between geometry and kinematics as well as dynamics of continental orogen.

流变学研究是大陆造山带几何学、运动学和动力学的桥梁。

However, as the name（read－only memory）implies, CD disks cannot be written onorchanged in any way.

然而，正如其名字所指出的那样，CD盘不能写，也不能用任何方式改变其内容。

Galvanizes steel pallet is mainly export which suits standard packing of European Union, the North America. galvanizes steel pallet is suitable to heavy rack. Pallet surface can design plate type, corrugated and the gap form, satisfies the different requirements.

镀锌钢托盘多用于出口，替代木托盘，免薰蒸，符合欧盟、北美各国对出口货物包装材料的法令要求；喷涂钢托盘适用于重载上货架之用，托盘表面根据需要制作成平板状、波纹状及间隔形式，满足不同的使用要求。