运动学

Based on the theory of robotics, manipulator's kinematics equation is established and inverse kinematics analysis and calculation is made by algebraic solution after simplification, besides, Cartesian-space schemes, working space and singularities are also taken into account.

在机器人学的理论基础上，使用D-H方法建立了机械手的运动学方程；通过问题简化，利用代数解法，进行了逆运动学分析和计算，并对机械手进行了笛卡尔坐标轨迹规划，为后续控制系统的设计及机构运动仿真提供了依据；分析了机械手的工作空间、奇异性；介绍了建立机器人动力学方程的常用方法。

It is able to perform spatial transformational movement, rotation, hoisting, tilting, planar rotation and tilted rotation. Based on configuration analysis, kinematic position equations were formulated, kinematic model of parallel fine-tuning structure was discussed as a key and inverse position analysis and velocity mapping equations were presented. Kinematic simulation of the mechanism was conducted using MATLAB software. A case study was provided, which applied the mechanism in tunnel erector assembling manipulators.

通过对该机构进行分析研究，建立其运动学位姿方程，重点探讨了并联微调机构的运动学模型，建立了其位置逆解与速度映射解析方程，运用MATLAB软件对该机构进行了运动学仿真分析；同时提供了该串并联机构应用于隧道管片拼装机械手的具体实例。

The backward kinematics was obtained from the iterative computation of the forward kinematics.

逆运动学的解利用正运动学通过迭代算法来求解。

The theory analysis in allusion to the direction framework of a kind of air suspension is processed taking use of Langrate method of the multi-body dynamics theory. At the same time the kinematics analysis of rigid body and elasticity is also processed based on Virtual Prototype Technique which is popular in the world and the changing orderliness of wheel alignment parameters along with wheel jumpiness is got.

应用多体动力学理论的Langrage方法对一种空气悬架的导向机构作了理论分析，并基于国际上流行的虚拟样机技术对其作了刚体运动学和弹性运动学的分析，得到了该型空气悬架定位参数随车轮跳动的变化规律。

On the basis of theoretic kinematics algorithm, a new one with angle compensation is proposed.

在原有理论运动学的基础上，提出了一种带角度补偿的运动学算法。

In this dissertation, author creates kinematics mathematical model of McPherson suspension and steering system wit...

本文采用多刚体动力学方法建立了麦弗逊悬架和转向系统运动学分析数学模型，并采用MATLAB语言编制该数学模型的运动学分析程序KASS。

System of coordinates and the transfer of axes are introduced to analyze the force and the moment of force. Based on this, the dynamic equation and the kinematics equation are built. Combining with the mass changes and the control relationship, the kinematics model of missile is completely set up. According to the subject studied in this thesis, and based on some assumptions, the model of Bank-to-Turn missile is built.

引入了研究导弹制导控制系统常用的坐标系及各坐标系之间的关系；分析了作用在导弹上的力与力矩，在此基础上建立了导弹动力学方程和运动学方程，结合导弹质量变化和对导弹的操纵关系，建立了空空导弹的运动学模型；针对本文的研究对象，在一定假设的基础上建立了倾斜转弯导弹的数学模型。

ABSTRACT In this dissertation, fault-tolerance of redundant manipulators is thoroughly investigated. First, inherent relationship between the dexterity and fault-tolerance of single-redundancy manipulator is discussed. Both the manipulability and the relative manipulability are utilized for measuring the kinematic fault-tolerance of the manipulator with one joint failure. Furthermore, the relative manipulability is used for measuring dexterity loss resulted by one joint failure, and the relationship between the fault-tolerance measurement and null space vector of Jacobian matrix is established.

本文对冗余自由度机器人的答错性问题进行了深入的分析和迭付：首先研究了单冗余度机器人运动学灵活性与容错性之间的内在关系，提出以故障构形的可操作度和相对可操作度来度量机器人的运动学容错性，用相对可操作度来度量关节故障给机器人操作灵巧性造成的损失，并建立了容错性度量指标与Jacobian矩阵零空间向量之间的关系。

And the progress of kinematic orbit determination of low orbit satellites based on GPS and studies related are discussed.

在运动学定轨中，有效的卫星跟踪个数和好的GPS数据质量是很重要的。由于周跳和粗差可以大大的降低最终轨道的精度，因而周跳探测和粗差处理是运动学定轨处理中一项非

For the sake of raising the under water propulsion properties of Robo-Mackerel, An analytical discussion was made on the relationships of each dynamics parameters of the swinging of mechanical pectoral fin and the above stated targets, and the optimal value of each dynamics parameters were proposed.

为有效地提高Rob-Mackerel的水下推进性能，分析讨论了机械胸鳍摆动各运动学参数和上述指标的关系，并提出各运动学参数的最优值。

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％。