运动学

Because of the existence of discontinuity point, the stretching direction of one cylinder will be changed when moving to the point.

通过对回转机构运动学的仿真分析，为回转液压系统动态性能分析提供运动学的理论基础。

In the optimal control of kinematics for redundant robots, two new concepts, the matrix weightability measure and the self-motion declinability measure are proposed. Further, a modified weighted gradient projection method which combines gradient projection method with weighted least-norm solution is presented, it can attain ideal optimal effects at low velocities.

本文对冗余自由度机器人的运动学、动力学和容错等方面的优化控制进行了深入的分析和探讨：在冗余度机器人运动学优化控制方面，提出矩阵可加权度和自运动可衰度的概念，将梯度投影法和加权最小范数解法有机的相结合，形成可优化能力强、关节速度较低的改进的加权梯度法。

Analyzing the kinematics problem of the YJP-1 vision-servo redundant robot, the kinematics equation of the single arm has been established, the Jacobian matrix of front four joint has been formed using a new method.

对YJP-1型冗余度机器人进行了运动学分析。用D-H方法建立了YJP-1型冗余度机器人单臂的运动学方程。运用一种新的方法建立了YJP-1型机器人前面四个决定末端抓手位置的自由度的Jacobian矩阵。

With the special kinematics and kinetics law of major-minor connecting rod mechanism in gas engine,based on expression function integrated into regular curve and optimizing module provided by UG software,the optimized structural parameters of major-minor connecting rod mechanism were educed through minimizing the differences tribology characteristic between in piston of major cylinder and piston of minor cylinder,and kinematics and kinetics characteristics were reappeared with emulational curve mode.

根据关节式曲柄连杆机构独特的运动学、动力学规律，利用UG软件所提供的表达式、规律曲线和优化等模块，给出使主、副气缸的摩擦学特性尽量保持一致的最佳结构参数，并以仿真曲线的方式再现了运动学和动力学特性的变化规律。

It is shown that the self-motion is regular by the extended Jacobian method, while the self-motion is chaotic by the pseudoinverse of the Jacobian method.

研究表明：基于扩展Jacobian矩阵方法求解冗余度机器人运动学逆解时其自运动是规则的周期运动，而基于Jacobian矩阵的伪逆求解冗余度机器人运动学逆解时其自运动是混沌的

From the established manipulating kinematics equation, the kinematics determinacy of multi-fingered hand manipulation is systemically discussed, and the analytic formulae of joint self-motion and the contact motion caused by the joint self-motion are given.

从得到的运动学方程出发，分析了多指手滚动操作的运动学确定性问题，给出了关节自运动及由其生成的接触点运动的显表达式。

At the same time, the method also can be used into other mechanism problem, such as inverse solution of series mechanism.

同时，它也可应用于求解困难的其它机构运动学问题，如串联机构的运动学逆解。

Firstly, by using stick model combined with inverse kinematics and dynamics constraints the.

首先，采用骨架模型结合逆运动学和动力学约束仿真了人体行走，取得了很好的逼真性；同时运用逆运动学和关键帧方法仿真了人体跑动，取得了较好的实时性。

Firstly, the detailed analysis and calculate of the dynamics parameters as suspensory point load, pure toque of speed reducer shaft etc and kinematics parameters of conventional beam-pumping unit and eccentric placed pumping unit which are in services in oil field have been made combining the basic theory of present beam-pumping unit to provide theoretic foundation for the kinematics and dynamics simulation and optimizing design of pumping unit.

首先，结合现有游梁式抽油机工作原理，对油田在役的常规型游梁式抽油机和异相曲柄平衡游梁式抽油机的运动学和悬点载荷、减速箱曲柄轴静扭矩等动力学参数进行了详尽的分析计算，为游梁式抽油机的运动学和动力学仿真及其优化设计提供了理论依据。

A simplified kinematic model on locomotion of the undulatory long dorsal fin propulsion is based on the the observation and experimental data.

在"尼罗河魔鬼"巡航游动试验的基础上，通过对鱼体几何形态和柔性长背鳍波动的运动学分析，建立了"尼罗河魔鬼"长背鳍波动推进的简化运动学模型，并利用大摆幅伸长体理论分析了长背鳍波动推进的水动力学特性。

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％。