运动学的

There were significant differences in shoulder abd/add and wrist extension.

然而倾角在运动学及动力学的影响主要是在冠状平面，肩关节的外展内缩及腕关节的背屈是主要的差异。

The determinations of the absolute magnitude and the kinematicparameters of RR Lyrae stars, their effects on the estimations of thedistances and the ages of the globular clusters, and the comparisonsbetween the results and ones from other indicators of distances arereviewed.

对天琴RR型变星绝对星等与运动学参数的测定及其对确定距离、球状星团年龄估计的影响，并对它们和其他距离指示器求得的结果的比较作了评述。

In this dissertation singularity avoidance Pith-Yaw-Roll joint apery arm-7 d o. f robot is designed and its inverse kinematics algorithm is studied It is an important problem in the field of redundant robot that inverse kinematics algorithm, and it is studied in this dissertation.

自1996年以来，我所在课题组承担了国家863网点基金项目：拟人手臂机器人系统的研制工作，本文论述了具有全方位无关节奇异的Pith-Yaw-Roll关节机构的七自由度拟人手臂机器人的设计及其逆运动学算法研究。

The kinematics of precision centrifuge isanalyzed in Chapter 2 adopting Homogeneous transformation and vector analysis.The calculating formulae of centripetal acceleration generated by precision centrifugeand acceleration acting on input axis, output axis and pendulous axis of accelerometerare deduced in theory under various conditions.

论文第2章首先用齐次变换法和矢量分析法对精密离心机的运动学进行了分析，从理论上推导出离心机产生的向心加速度的计算公式，以及各种条件下作用在加速度计输入轴、输出轴和摆轴上的加速度。

Then, based on the configuration and design principle of the wafer handing robot, the model of the wafer handing robot arm is established. The radial linear concertina motion of the wafer handing robot is analyzed, a type of mechanism that can implement the function is proposed, furthermore, the kinematics of the mechanism is analyzed.

其次，根据硅片传输机器人的构型与设计原则，建立了机器人手臂的模型，对硅片传输机器人的径向直线伸缩运动展开分析，提出了实现该运动的机构，并对机构进行了运动学分析。

Basing on reading lots of reference materials, the author of this paper systemically analyses the kinematics, dynamics, dead reckoning of the robot which is designed by author.

在阅读大量的文献基础上，本文理论联系实际，针对所设计的机器人形式，进行了机器人的运动学、动力学、位姿推测等方面系统深入的研究。

The forward kinematics is analyzed by choosing one of the mechanisms which have one, two,three or zero angle constraint.Wherein,3-CCC is a new parallel mechanism which has three angle constraints and three distance constraints, Calay\'s formular and direction cosine matrix are used to describe the rotation matrix respectively.By setting Dixon\'s and Sylvester\'s resultant with the three angle constraint equations respectively and using parameters replacement to deal with the distance constraint equations,the 64 order input-output equation of the forward kinematics is obtained under both of the methods.Numerical example confirms these theretical results and the motion simulation is shown in VC++ by integrating OpenGL.

3对高小山提出的广义并联机构进行了研究，以其中具有角度约束的并联机构进行了分析，选取具有一个、两个、三个和零个角度约束类型中各一个机构进行了运动学正解求解，其中3-CCC是一种全部由圆柱副构成的具有三个线线角度和三个距离约束的新型并联机构，文中分别用Calay公式和方向余弦两种旋转矩阵建模方法对其位置正解进行了分析，通过对三个角度约束方程分别构造Dixon结式和Sylvester结式，以及对三个距离约束方程进行变量代换分别导出了位置正解输入输(来源：4040ABC论文网www.abclunwen.com)出方程，得出64组位置正解，并使用数值算例验证了其全部根。

The guidance system is built according to the relative relationship in three dimensions. For longitudinal plane, by introducing the subsidiary smooth function, the attraction domain of sliding mode are analyzed and determined, and the stability of the guidance system is proven, considering from the coupling relations of two planes in three dimensions.

根据末端三维弹目相对运动学关系，建立了三维制导系统的数学模型，并以纵向平面模型和变结构控制中到达条件为基础，引入分段光滑连续函数，以三维平面间的耦合关系为出发点，从两个方面分析并确定了过载受限变结构制导律的滑动模态吸引区，证明其制导系统的稳定性。

In this paper, the plane double enveloping worm has been researched. The motion equations have been built of it. The states of motions and victories and forces of the worm engaging point were been analysis.

本文以平面二次包络环面蜗杆传动为主要研究对象，建立了平面二次包络环面蜗杆传动的运动学分析模型，分析了平面二次包络环面蜗杆传动啮合点的运动状态、啮合点各方向的速度、各方向上啮合力的分力。

Developments of the valve trains of domestic and foreign I.C. engines are introduced. The theory of the kinematics and dynamics of the valve mechanism is also described in this paper.

本文介绍了国内外内燃机配气机构的发展现状，以及凸轮设计的目标、要求与准则，论述了配气机构运动学和动力学的计算理论。

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。