运动学的

Recuring to the analysis ability of ADAMS, the text bulit up the standing shooting position integritys model. Through simulating the body movement as bullet explodes, it analyses the graph of the muzzle displacement, waist moment and waist force. At last the text put forward the method for improving the stability of standing shooting.

本文结论：借助于ADAMS仿真软件的运动学和动力学分析能力，对立姿射击姿态进行了完整的建模，通过对立姿射击姿态的仿真，从立姿支撑面和腰部强度两个方面对模型施加外部控制，模拟子弹激发瞬间人体运动，分析运动中枪口位移和腰部受力、力矩的曲线图，提出提高姿态稳定性的方案。

In light of the research situation on wheel loader and hydraulic excavator in China, a software package named KDOSCM was developed. This software package has functions of MBS kinematic analysis, dynamic analysis, optimization, motion simulation and static force analysis, and also was the first one in the field of Construction machinery in China.

最后，本篇针对国内在轮式装载机和液压挖掘机方面的研究状况，开发了一套可用于工程机械进行计算机辅助设计和分析的软件包KDOSCM，该软件包可进行工程机械的多体系统运动学分析、动力学分析、优化设计，运动仿真和静力分析，该软件包的研制在国内尚属首次，填补了国内工程机械领域的一项空白。

In the first part, one of the multibody system theories and methods— Huston's method based on Kane's equation is systematically summarized. By using this method, the existing design problems of two main machines—wheel loader and hydraulic excavator in the field of construction machinery have been solved, and also the software KDOSCM which includes multibody system kinematic and dynamic analysis, optimization , motion simulation and static force analysis is developed for construction machinery.

上篇在系统总结基于Kane方程的Huston方法的多体系统理论和方法的基础上，侧重于运用该方法解决工程机械领域中的两大主要机型—轮式装载机和液压挖掘机在设计中存在的问题，同时开发研制了可用于对工程机械进行多体系统运动学、动力学分析，优化设计、运动仿真和静力分析的软件包KDOSCM。

The first one is Vector Pursuit which is based on Screw Theory. The second one is Replicate Line Method presented by this thesis which is presented according to the skid-steering property of track-laying mobile robot and the constraint of its working environment. Thirdly, use the path tracking method proposed by Kanayama for reference to control the robot moving for the current position to the desired position with the desired velocity, so make the path tracking process more precise.

然后从运动学方面，根据机器人当前位置与目标点的位置偏差和角度偏差，采用基于螺旋理论的向量追击法，以及本文根据履带式移动机器人运动特点和工作环境特点提出了的轨迹跟踪方法，折线法，来确定机器人的期望运动；再借鉴Kanayama提出的轨迹跟踪控制方法，对机器人以期望运动速度从当前位置运动到目标点的过程进行控制，从而进一步精确了跟踪过程。

This paper takes a kind of parallel robot with 2-DOF actuation redundancy as the object of study and according to the spatial model of the parallel robot mechanism and the reverse solution of dynamics,the relationship between the function target of output speed of the tip of this parallel robot mechanism and the dimensions of bar components was probed.

以一种平面2自由度驱动冗余并联机器人为研究对象，根据该并联机器人机构的空间模型和运动学反解，探讨了该并联机器人机构的末端输出速度性能指标与杆件尺寸之间的关系，并绘制了相应的性能图谱，这些图谱是该并联机器人机构设计的重要参考依据。

Although plenty of useful information on kinematics and dynamics is contained in the three-component seismic data,the signal is usually contaminated by all kinds of random noise,which brings up some obstacles for data processing and interpretation.

三分量地震资料包含着丰富的运动学和动力学信息，各种随机噪声的存在严重降低了资料的信噪比，给有效信息的提取带来了一定的困难。

Firstly, this paper discusses the development actuality of the research on double-front axle steering system and power-train of automobile. Based on the structure of the design experiences from others, the kinematics formula of double-front axle steering system is fetched, and the mathematical model of optimization design of double rocking arms mechanism and steering trapezium mechanism is established by space geometry method. Considering the difference between the real steering angle from wheels and the ideal steering angle from the ideal formula as the objective function, the optimization design method of double-front axle steering system is presented.

本文首先论述了国内外对汽车双前桥转向系统和动力传动系统研究的发展状况，在总结前人研究设计经验的基础上推导出汽车双前桥转向系统运动学关系，运用空间几何法建立了双前桥双摇臂机构及转向梯形机构优化的数学模型，以转向轮实际转角值与理想公式求出的理想转角值之间的误差达到最小为目标函数，提出了双前桥转向系统参数的优化设计方法。

Verifies the rationality of the mechanism by test. Based on analysis of the positive independent mechanical split path transmission, shift force is calculated. According to the shift force and requirements in shift time, parameters of selection and shift operating mechanism are confirmed.

对正独立式机械双流传动装置换挡过程进行运动学、动力学研究，计算出传动装置的换挡力，并结合整车对换挡时间的要求，初选选换挡执行机构的选位、换挡油缸的参数进行计算，最终得到选换挡执行机构的设计参数。

On this basis, kinematics simulation of the model was used by Adams. Meanwhile,this paper also introduced the way of constraint of Differential gear and Shortcomings in the course of Adams simulation, and pr oposed a new and feasible way of establishment of gear constraint.

建立了基于UG对无级传动变速器的三维模型，在此基础上运用Adams对模型进行运动学仿真，同时介绍了在Adams仿真过程中差动轮系约束的建立方法以及还存在的缺点，并且提出了建立齿轮约束的新的可行的方法。

Using engineering and numerical analysis software Matlab some simulations of the model are carried out, and the motion simulations of the fish body and the caudal fin under different kinematics parameters are also carried out.

根据对鲹科加新月形尾鳍推进模式的仿生学研究，在分析游动过程中身体与尾鳍运动的基础上，建立了一维稳态游动情况下鱼体及尾鳍的运动学模型，利用Matlab工程分析与计算软件对该模型进行了运动仿真，并进行了尾鳍和鱼体在不同运动参数下的仿真研究，给出了适合仿鱼水下推进器设计的参数取值范围。

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。