运动学

In tiffs paper, inspired from the position-numeral description in computer, the step s expression of the search algorithm was gained through reasonable conversion of some interrelated rules, Based on inheriting the advantages of traditional Hill Climbing, a new way to search the kinematic inverse solution of multi-joint robot -intelligent hill climbing, was put forward.

本文从计算机原理中位置数制的描述获得启发，将其中的某些规律进行合理的转换，形成搜索算法的步长表达式；在吸收传统登山优点的基础上，提出了求取多关节机械臂运动学逆解的新算法——智能登山法，并对算法进行了描述，写出了完整的通用流程图，运用该方法求取机器人运动学逆解，无需矩阵运算、三角变换；收敛速度快，适于实时控制，仿真试验验证了该方法的可行性、实用性。

The dissertation systematically analyses RV-M1 robot which is used in this study, thoroughly dissects the hardware and software of RV-M1 robot's controller, upbuilds RV-M1 robot's model and coordinate system, develops the robot's forward kinematics formulation, solves the robot's kinematics negative problem, develops RV-M1 robot's dynamic formulation in Lagrange-Euler form, does linearization about robot's dynamics model, and gets this robot's sign solution In order to solve practical problem in the process of robot automatic polishing, this dissertation makes some beneficial researches and trials.

本文比较系统地分析了本论文研究中采用的RV—M1型机器人，较为详细地剖析了RV—M1型机器人系统的控制器硬件、软件，建立了RV—M1型机器人模型及其坐标系，推导出了该机器人的正向运动学方程，并对机器人的运动学逆问题进行了求解；推导了RV—M1型机器人的Lagrange—Euler形式的动力学方程，对机器人的动力学模型做了线性化，给出了该机器人的符号解。

Kinematics and dynamics modeling and analyzing method of a 3-RRRT parallel robot was studied. Kinematic model of the 3-RRRT parallel robot was set up with both the branch bar's relative coordinates and movable platform's absolute coordinates used as it's generalized coordinates. On the base of Kane's equation, dynamics model of the 3-RRRT parallel robot was built. Dynamic Numerical simulation of the 3-RRRT parallel robot was finished by using Matlab software, and so it provides valuable reference for motion control strategy of the 3-RRRT parallel robot.

研究一种3-RRRT新型高速搬运机器人运动学与动力学建模及分析方法，以支链构件相对运动坐标和动平台绝对运动坐标作为广义坐标，建立了3-RRRT型并联机器人的运动学模型，结合带乘子的凯恩方程建立了3-RRRT型并联机器人的动力学模型，并利用Matlab软件平台进行了动力学数值仿真，进而为3-RRRT型并联机器人的控制策略研究提供参考。

Research on cone/bit speed ratio simulation model of tri-cone bit s;2. In this paper, the kinematics simulation model of tri-cone bit s was established according to the roller cone bit geometry and kinematics.

根据钻头几何学和运动学建立起了随钻运动的三牙轮钻头的计算机运动学仿真模型，该仿真模型既表示出了钻头上各牙齿的形状、大小和在钻头上的分布情况，又可真实反映钻头钻进过程中各牙齿的瞬时位置和相互关系。

This thesis also improves the algorithm of iterative calculation of direct kinematics on two aspects. One is to solve the "floating" problem, which is the change of the leg lengthes when nuts of ballscrews rotate around their own axises.

通过对几类关键受限变量——杆长、关节摆角、倾倒角和旋转角进行相关运动学计算，实现对它们的限位约束；同时，针对因滚珠丝杠螺母副引起的杆长随角度变化而&浮动&的特殊问题，对正向运动学迭代算法进行改进，加快了收敛的速度； 3。

Compare the hurdle technique parameters with other top 110m hurdlers' technique in world track and field championship. The goal is to study the sports deeply and do good to other hurdlers.

本文研究的目的是通过研究刘翔跨栏跑技术运动学指标的变化，对其技术运动学特征进行深入的研究，分析寻找出刘翔110米跨栏跑的技术特征与规律，为刘翔和其他运动员的训练提供借鉴。

The main work of this paper: Firstly, Basing on the summarization and analysis of the walking mechanism, Parallel drive five-bar mechanism is applied for walking mechanism. And then the characteristic of the trail and positive kinematics as well as reverse kinematics are discussed. Secondly, the model of walking mechanism is established according to Parallel drive five-bar mechanism, and then a figure planning is designed for the foot-end trail. The characteristics of the parallel drive are emphasized to research in this paragraph by the method of insert value. At last, the simulation is performed in the ADAMS to compare the real result to the theoretical value. Thirdly, a sealed structure of a Quadruped Walking Robot is designed and established. The whole control system, including motor, sensor and control circuit, is sealed in the robot. Walking is derived in the way of the shaft driving and the dynamic torque sensor is used to the surrounding conditions of the robot's foot-end to be the foundation of the robot's control. At last, the applying principle of the dynamic torque sensor is researched in detail basing on the traditional sensor of the walking robot. Moreover, the principle is divided into several sorts to discuss. Finally, simulation and verification of the monitor principle are come through in the Mechanism of the Pro/Engineer.

论文的主要工作有：在对传统步行机构总结分析的基础上，提出将平面并联五杆机构应用于四足步行机器人的腿部结构，并对其轨迹特性、正运动学、逆运动学特性做了详细计算分析；依据平面并联五杆机构的模型，建立机器人步行机构的实体模型，对其足端的轨迹做了图谱规划，并利用插值法对并联驱动端的特性曲线作了研究，并在ADAMS中进行仿真，将结果与理论值相比较；然后设计了一套四足步行机器人密封装配结构设计方案，建立四足步行机器人单足结构、驱动以及传感器监测的三维实体模型，将机器人的整个控制系统，密封装配在步行机器人的机体中，通过轴传动来驱动步行机构实现步行，采用动态扭矩传感器监测步行机构的驱动关节受到的扭矩变化，从而获得四足步行机器人足端的周围情况，为步行机器人的控制方案奠定了基础；论文的最后在分析步行机器人传统控制传感器的基础上，详细分析了动态扭矩传感器的监测原理，并分几种情况分别分析了其监测原理，并在Pro/E的Mechanism模块中实现了监测原理的仿真与验证，最后给出了传感器监测信息与系统判断之间的关系。

In this paper, we analyze both kinematics and dynamics of three-wheeled Mobile robot and calculate the navigation of the posture firstly .

本文首先建立了三轮轮式移动机器人的运动学模型和运动学模型。

The work of this paper includes:(1) By analyzing the kinematics of the three-wheeled omni-mobile robot, the mathmatical kinematics model was constructed.

本论文的工作内容主要如下：（1）对三轮全向移动机器人运动学进行了分析，并建立了运动学数学模型。

At the evaluation parameters part, the article point out 20 suspension parameters to evaluate the vehicle independent suspension kinematics and elasticity kinematics characteristics, and give the exact definitions of these 20 parameters, at the same time the article endeavors to discuss the changeable characteristics of these parameters and their influences to the vehicle handling performance.

分别指出了反映了车轮定位、顺从转向、车身纵倾和侧倾、车轮回正性、转向轻便性和轮胎磨损等独立悬架运动学和弹性运动学特性的20个悬架参数指标，给出了它们的定义，并尽力阐述了这些参数对汽车操纵稳定性等重要性能的影响及其合理的变化趋势或范围。

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％。