运动学

This paper takes the small fish of Carangiform as the mimetic object. Through the bionics study to the principle of Carangiform"s propulsion, the robofish"s main body mechanism that has two degrees of freedom tail fin and single degree of freedom pectoral fin has designed. At the same time, the parameterized mathematical model of double-hinged propulsion system has established. The kinematics analysis, dynamics analysis to the propulsion process and preliminary hydrodynamics analysis to the tail fin and the pectoral fin have been completed. The dynamic equations to the propulsion system have been established.

本文以鲹科模式鱼类为仿生对象，通过对鲹科模式鱼类游动机理的仿生学研究，设计了两自由度的尾鳍推进机构及单自由度的胸鳍机构的机器鱼机械本体结构，建立了参数化的两关节尾鳍推进模式的数学模型，并对推进过程进行了运动学、动力学分析，建立了推进系统动力学方程，对尾鳍和胸鳍推进的水动力进行了初步分析。

Based on the foundation of anatomizing the structure of robot, taking full advantage of parallel move performance of the double triangle boom of the rock-drilling robot ac-cording to the condition of the diversification of the boomend location brought by the change of each joint, integrating the knowledge of robot kinematics, an expert system is established to adopt the personate means, that is" the first toorientate the end, then to orientate the location "to realize the speediness orientation.

作者在分析凿岩机器人钻臂结构的基础上，利用钻臂的双三角支架的空间平移性能，根据各关节变化所引起的钻臂端部位姿的变化，综合机器人学中运动学知识，建立一个专家系统，采用拟人化的方案———"先定点，再定位姿"，解决凿岩臂的快速定位问题，以实现描述各关节位置的变量的快速逆运算。

By Visual Basic 6.0 program, taken the distance between hole 200mm and buried depth 120～150mm as the optimization goal, the most optimum parameters range of the mechanism was obtained as follows: the initial angle between planet frame and the line formed from spraying-fertilizer needle-tip and planet wheel axle was -45°～-40°, the initial angular displacement of planet frame was 40°～50°, the distance between spraying-fertilizer needle-tip and the planetary gear axle center was 280～300mm, simultaneously, the semi-major axis of elliptic gear was 29.364mm, the teeth quantity was 23, the ratio of semi-minor axes and semi-major axis was 0.958, the radius of circular gear was 25mm.

对该机构进行运动学分析，建立了数学模型，以穴距200mm和入土深度120～150mm为寻优目标，应用Visual Basic 6.0软件编程得出满足机构运动要求的最优参数范围为：喷肥针尖和行星轮轴连线与行星架的初始夹角-45°～-40°、行星架初始角位移40°～50°、喷肥针尖与行星轮轴心距离280～300mm，此时椭圆齿轮长半轴29.364mm、齿数23、短半轴与长半轴比0.958，正圆齿轮半径25mm。

Kinematic solution of the tissue culture plantlet transplanting robot established a foundation for trajectory planning and accurately motion control.

机器人运动学正、逆解的实现，为组培苗移植机器人的轨迹规划和精确运动控制奠定了基础。

With studying on the kinematics of the polar coordinates processing system, this system is designed according to the theory and the practical processing is completed in this system.

在理论基础上，通过对极坐标系统运动学的研究，设计出该课题研究的极坐标加工系统，可实现在极坐标加工系统中的连续旋转运动与分度运动。

In order to describe quantitatively their relative contributions, the kinematic vorticity number is introduced and simply defined as cos v, where v is the angle between two eigenvectors containing the shear directions in the principal deformation plane （XZ-plane or ac-plane）.

为了定量说明两者间的相对贡献，提出了运动学涡度这一物理量，并简单地定义为COSv.v是主变形面内两特征方向间的夹角。

The analysis of the contact problem in FEM includes two aspects: the checking of contact points and the treatment of contact points with mechanics and kinematics.

有限元分析中的接触问题包括两方面：接触点的检测和已接触点的力学与运动学处理。

Discussed the screw theory and the product of exponentials formula used to solve the manipulator inverse kinematics problems.

讨论了用旋量和指数积公式计算PUMA类型6自由度机器人运动学逆解的方法。

Measurements of radial velocity and proper motion show the kinematics of these systems through the Milky Way galaxy.

径向速度测量和适当的运动显示运动学这些系统通过银河系。

The two bundle need to be reconstructed in order to restore the function of anterior cruciate ligament.lt is coincident to the propery of kinematics that the knee be fixed at the 110 degree in the early stage.

结论膝关节屈伸过程中前内侧束和后外侧束的是两束不同的功能单位，要恢复前交叉韧带的功能应当将两束分别重建。在重建后早期将韧带固定于屈膝110度的位置更符合运动学的特性。州陪怂岁

In the negative and interrogative forms, of course, this is identical to the non-emphatic forms.

。但是，在否定句或疑问句里，这种带有"do"的方法表达的效果却没有什么强调的意思。

Go down on one's knees;kneel down

屈膝跪下。。。下跪祈祷