运动学的

A new type mating device is designed which has a cupule at each end of manipulator. Kinematics analysis, structural design of mating device and motion equations are also given in this paper. At the same time, the motion of manipulators position and posture are analyzed according to the auto-mating tactic.

本文进行了基于吸盘结构的水下运载器主动对接装置的结构设计，对装置进行了运动学分析，结合机械手的实际结构，推导出机械手末端吸盘的运动方程，并根据主动对接作业策略进行了机械手位姿变化的分析。

The kinematics parameters were firstly presented by establishing the mechanical model of relation between the vibration screen and particle to deduce periodicity condition of particle motion,then disturbing function of particle motion for periodic motion was educed by using Poincaré mapping method,and studied motion characteristics of particle in vibration screening in terms of numerical analysis.

利用振动筛与颗粒之间关系的运动学模型，导出颗粒运动的周期性条件；然后利用Poincaré映射方法，推导出颗粒的运动对周期运动的扰动方程；最后对振动筛分过程中颗粒运动特性进行了数值计算研究，得出了筛面上颗粒运动是经周期分叉和概周期分叉通向混沌的演化过程。

The reason why quaternion is used in flight simulation of fighter aircraft and the geometric meaning of quaternion are described,according to axis system used in flight simulation of fighter aircraft in China,three problems are introduced as follows:(1) quaternion kinematic equations,(2) relationship of quaternion and coordinate transformation matrix,(3) Euler angles in terms of quaternion.

阐述了在战斗机的飞行仿真中采用四元数的原因和四元数的几何意义，并按照中国战斗机飞行仿真中采用的坐标系，介绍了三个问题：四元数运动学方程；四元数与坐标变换矩阵的关系；用四元数表示的欧拉角。

The article studied the intercept of tactical missile defense hands in meeting horn to restrain a problem, put forward a kind of kinematic geometry to analyse a method, derivation the analytic impact that the transverse error that the initiative position error of TBM causes and intercept make meeting part, analysed intercept to hand in meeting horn to be opposite end control and guide paragraph the influence of correct an error, decided can hit the target the intercept that the target allows makes meeting role range.

本文探究了战术导弹防御的拦截交会角约束新问题，提出了一种运动学几何分析方法，推导了TBM的初始位置误差引起的横向偏差和拦截交会角的解析关系，分析了拦截交会角对末制导段纠偏的影响，确定了可命中目标答应的拦截交会角范围。

This dissertation's main work and innovations is following: 1. The 6DOF kinematic and dynamic equations of motion for multiple thrusters AUV are derived and presented in a compact form using vector notation. The hydrokinetics of the MTAUV is classified anew. The MTAUV has two kinds of work modes which are cruising and hovering. The fluid dynamical mathematics description of the MTAUV is given anew. 2. The kinetics equations of the MTAUV in the low speed hovering are analyzed and studied.

本文主要的工作和创新点主要有以下几个方面：一、采用矢量参数的形式建立了基于多推进器自主水下航行器的六自由度运动学方程和动力学方程；对基于多推进器自主水下航行器的流体动力进行了重新分类，给出了基于多推进器自主水下航行器在巡航工作模式和悬停工作模式两种不同工作状态下流体动力的数学描述。

The computer simulation software was developed for figuring the path curves and instantaneous speed of the lapping process.

文中从运动学和几何学原理出发，建立了工件精密研磨过程的轨迹方程，通过将复杂的研磨运动简化为在中心距一定条件下夹具绕研磨盘中心轴的回转运动及夹具自身的回转运动，对工件上任意点相对于研磨盘的运动轨迹及瞬时速度进行了分析计算，并开发了相应的计算机仿真软件，对其运动轨迹曲线及瞬时速度进行了分析。

Based on kinematics modeling, two models aiming at irrotational displacement isolator are simulated and analyzed.

在运动学模型的基础上，对减振机构的两种模型进行仿真、分析其运动特性，结果表明该机构可以有效的隔离振动、抑制角位移，对系统成像质量的提高具有重要的意义。

Based on kinematics modeling, two models aiming at irrotational displacement isolator are simulated and analyzed. The result shows that the framework effectively isolates the vibration, restrains angle displacement and plays important role in improving the image quality.

在运动学模型的基础上，对减振机构的两种模型进行仿真、分析其运动特性，结果表明该机构可以有效的隔离振动、抑制角位移，对系统成像质量的提高具有重要的意义。

In mechanics kinematics, Jacobin matrix may be calculated and simplified by vector constructing; Inverse solution and its restricting condition be given; Forward solution be solved by new-raphson method. The method need shorter time than optimization and has a lot of advantages in applying program; some relationship of velocity, acceleration, force and error of mapping from input to output have been given. Analyzing of theory base these researches.

在机构运动学研究方面，通过矢量构造的方式计算出了速度雅克比矩阵，简化了计算量；给出了机构位置逆解的计算过程及约束条件；利用Newton—Raphson法计算出了机构位置的正解，该算法比优化法计算时间短，而且利于实际编程；给出了机构输入、输出端速度、力、误差的映射关系，这些研究是机构理论分析的基础。

To the problem that the isotropy and the technological efficiency of the parallel kinematic machine based on Stewart platform are not satisfactory, a novel architecture of 6-DOF 3-dimensional platform parallel kinematic machine (6-DOF 3-D PPKM) based on the 2-2-2-SPS 3-D PPR is presented. The technological efficiency of design of the parallel kinematic machine is analyzed. Its workspace and the effect of design parameters to the workspace volume are studied. By using the submatrices of Jacobian matrix and force Jacobian matrix, the kinematics/mechanics transmission isotropic indices, kinematics transmission indices, load-bearing capacity indices at any configuration of the parallel kinematic machine are proposed, respectively.

分析其结构和装配工艺性，研究其定位姿工作空间及机床结构参数对工作空间大小的影响，基于Jacobian矩阵和力Jacobian矩阵中同量纲元素构成的子阵，提出该并联机床在任意位姿的运动／力学传递各向同性评价指标、运动学传递能力评价指标和承载能力评价指标；基于柔度矩阵中同量纲元素构成的子阵，提出该并联机床在任意位姿的力-位置柔度评价指标、力-姿态柔度评价指标、力矩-姿态柔度评价指标和力矩-位置柔度评价指标；研究各性能指标在定位姿工作空间内的分布情况。

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。