运动学的

In this paper, a path planning method based on GA is presented. Firstly, the model of the space robot is built to display the mapping of the end velocity and the joint velocity. Then the optimal algorithm based on genetic algorithm is presented to search the optimal solution which minimizes the disturbance of base attitude in the feasible solution space. Finally, an illustrative example is used to verify the feasibility of the algorithm.

基于GA研究机械臂运动对基座的姿态扰动问题，首先，建立空间机器人的运动学模型及空间机器人末端与关节速度之间的映射关系；接着，应用GA作为最优化算法，在空间机器人可行解空间中，寻找最优解得到最优路径，以达到对基座姿态干扰最小的目的；最后，通过数值仿真实验验证算法的实用性。

According to this result, an optimal procedure can be employed to determine these parameters in the kinematic design of PKM, which enable the desired ratio of workspace volume, well-conditioned dexterity, and desired velocity capability to be simultaneously achieved without occurrence of strut interference.

本文以基于6-TPS Stewart平台的并联机床为研究对象，研究了该类机床数控系统中有关运动控制的一些关键问题，并针对在运动控制中引发的微分运动分析与综合、解轨迹上的非线性特性及其引起的插补原理性误差等并联机床的运动学性能问题进行了研究。

On the basis of study on two projects:"10-DOF ultrasonic detection system for complex surfaces part" and "Ultrasonic water-logging automatic survey system for rods", this thesis studies the technologies of ultrasonic measurement, kinematic and dynamic modeling of 10-DOF ultrasonic system, real-time sensitivity auto-adjusting, integrated technology of ultrasonic measurement, surface construction and ultrasonic detection for complex surface parts and rods, thus improving the accuracy and efficiency of ultrasonic detection for parts of complex surfaces. Meanwhile, an auto-detection system for metal rods with rough surfaces and bad columniform accuracy is presented for the first time.

本文结合&10自由度复杂曲面超声检测系统&和&棒材水浸超声自动检测系统&两个项目的研究，主要开展了超声测量、检测机器人运动学和动力学建模、误差补偿、灵敏度自动补偿和曲面构件超声检测一体化技术和轴棒类构件超声检测一体化技术的研究工作，进一步提高了复杂型面构件超声检测的效率和精度，并首次针对表面粗糙、圆柱度较差的金属轴棒类构件开发出了高效率的自动化检测设备。

Thirdly, a welding platform scheme for huge circumferential seam's sealing is proposed, which is composed of multiple 3 DOF robots. It can control the pose adjusting during the rotation of the ship module. As to the different part of the ship hull, the inverse kinematics arithmetic of cylindraceous, elliptical and conical ship modules are given respectively.

第三，在船体环缝焊接系统中，本文提出了一种由多个3自由度滚轮机器人组成的环缝焊接平台的控制方法，实现了船体模块在旋转焊接时的姿态调整，并分别针对船艏、船舯和船艉的不同形状给出了相应的逆运动学算法以及可用于实时操作的简化控制算法。

The kinematic linkage mechanism is slaved to rotating means of the rib member, for torsionally twisting the outermost edge of the airfoil section, upper surface portion, the precise amount of rotation so as to flexuously bend the upper surface and thereby contour it to conform to an aerodynamically predetermined curvilinear plot that will produce...

运动学联动机制是slaved旋转的手段肋骨会员，扭矩扭最外层的边缘翼型节，上表面部分，确切数额的轮换等，以 flexuously弯曲的上表面，从而它的轮廓，以符合一aerodynamically预定的曲线图谋，将产生。。。

Based on the real observation data, forecast equitation or forecast model, the dynamics method such as divergence and vorticity calculation, real data correction, ascending and subsidence calculation was used to simulate the 4D field of divergence, vorticity and vertical velocity at different time, different range and different levels. The field was connected to 3D fields of insect trajectories, yielding the flying speed, direction, ascending area and subsidence. Thus the peak of immigratory insect could be timely monitored. A system of the peak of immigratory insect forecast was set up.

根据实际观测资料、数值预报方程或数值预报模式等输出的风场网格化处理结果，利用运动学方法、散度推算法、涡度推算法、实际资料订正法、升降法等对不同时间、不同范围、不同层次的四维散度、涡度和垂直运动速度场进行计算或模拟，将计算或模拟得到的散度场、涡度场、垂直运动速度场与昆虫迁飞的三维气流场联系起来，得到该类昆虫所具有的迁飞速度、方向、上升区和下降区，从而对昆虫的迁入峰进行实时预警。

The kinematically admissible velocity fields of the web, head and base of rail are determined, respectively, and the corresponding strain rate fields and the intensity of shear strain rate are also obtained. Then the plastic deformation power, the friction powers and the powers consumed on the velocity discontinuity surface are obtained.

然后分别给出了轨腰、轨头及轨底的运动学许可速度场以及相应的应变速度场和剪应变速度强度，并求出了相应变形区的塑性变形功率、速度间断面上消耗的功率以及由于摩擦产生的摩擦功率。

It's the firsttime for China to organize such a big athletics meet. On this opportunity, the kinesiological research onthe medal winners of three events was made. The regularity of the stage speed, the stride length and thestride frequency as well as the relations among them were deeply analyzed.

利用这一机会，我们对获得三个项目比赛奖牌的运动员进行了运动学方面的研究，对分段速度、步长、步频的变化以及它们之间的相互关系进行了深入分析，并探讨了中国运动员获得比赛胜利的原因和存在的不足。

First, based on the analysis and comparison of wave breaker indices defined by geometric, kinetic as well as dynamic stability, which were verified by observation, the value α, which is equal to H/ by Miche' s result and may be modified by Goda' s results, is suggested as the wave breaking criteria. The applicable values of α for pure waves or wave-current co-existing field are given.

首先，基于对波浪破碎的几何学、运动学及动力学三种指标的分析比较和观测资料的验证，本文提出可以合田良实的结果为基础修正Miche的H／=α值，并提出了适用于纯波及波浪与水流共存时的临界α值。

In this paper, we put forward an idea that the concrete pump car is robotized. For some problems about booms'robotization of concrete pump car, a lot of studies are thoroughly accomplished, by means of intelligent optimization method and finite element method of model design method, robotic kinematics and dynamics theory, computer graphics, computer simulation, mechanical control technology, hydraulic control technology, and so on. This idea establishes a new development way for research, design improvement and updating of the concrete pump car.

本文提出了泵车布料机构的机器人化的设想，并对泵车布料机构机器人化所涉及的若干问题，应用现代设计方法中的智能优化技术、有限元分析技术以及机器人运动学和动力学理论、计算机图形学原理、计算机仿真、液压控制等技术，进行了深入细致地研究，从而为现代泵车的研究、设计改进和升级换代开辟了新的途径。

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。