运动学的

According to the real time control experiment of the"3-2-1"type 6DOF platform, it proves that the real time motion control based on virtual simulation is a feasible control method. The designer himself needn't do the modeling and solving of the kinematic positive/negative calculation of the complex space structure and it deeply reduces the needs of the control hardware.

通过所进行的"3-2-1"型六自由度平台实时运动控制实验可以证明，所提出的基于虚拟仿真的实时运动控制是一种可行的控制方法，它不仅不需要设计者自己直接进行复杂空间机构的运动学正、反解的建模与求解，而且极大地降低了对系统控制硬件的要求。

This paper takes the small fish of Carangiform as the mimetic object. Through the bionics study to the principle of Carangiform"s propulsion, the robofish"s main body mechanism that has two degrees of freedom tail fin and single degree of freedom pectoral fin has designed. At the same time, the parameterized mathematical model of double-hinged propulsion system has established. The kinematics analysis, dynamics analysis to the propulsion process and preliminary hydrodynamics analysis to the tail fin and the pectoral fin have been completed. The dynamic equations to the propulsion system have been established.

本文以鲹科模式鱼类为仿生对象，通过对鲹科模式鱼类游动机理的仿生学研究，设计了两自由度的尾鳍推进机构及单自由度的胸鳍机构的机器鱼机械本体结构，建立了参数化的两关节尾鳍推进模式的数学模型，并对推进过程进行了运动学、动力学分析，建立了推进系统动力学方程，对尾鳍和胸鳍推进的水动力进行了初步分析。

Based on the foundation of anatomizing the structure of robot, taking full advantage of parallel move performance of the double triangle boom of the rock-drilling robot ac-cording to the condition of the diversification of the boomend location brought by the change of each joint, integrating the knowledge of robot kinematics, an expert system is established to adopt the personate means, that is" the first toorientate the end, then to orientate the location "to realize the speediness orientation.

作者在分析凿岩机器人钻臂结构的基础上，利用钻臂的双三角支架的空间平移性能，根据各关节变化所引起的钻臂端部位姿的变化，综合机器人学中运动学知识，建立一个专家系统，采用拟人化的方案———"先定点，再定位姿"，解决凿岩臂的快速定位问题，以实现描述各关节位置的变量的快速逆运算。

The main contents of this paper is used in college to learn the theory of the mechanics, control theory, mechanical design and computer programming technology, and mechanical theory to simulation, including through the establishment of two parts, kinematics and dynamics of the theoretical models (including Straight leg with the knee model and the model), the use of simulation software to achieve the whole process of Walkabout sports simulation, and to study the mass center position, slope angle and other parameters of walking gait characteristics of the device, and to find the law of passive walking, in order to further less energy-consuming research to lay the foundation of the robot.

本文的主要内容就是运用在大学期间所学到的理论力学、控制理论、机械设计以及计算机编程技术，进行理论推导和力学仿真，通过建立包括运动学和动力学两部分的理论模型的（包括直腿模型和带膝关节模型），利用仿真软件实现行走器整个过程的运动仿真，并研究质心位置、斜面倾角等参数对行走器步态特征的影响，从而找出被动行走的规律，为进一步研究耗能少的机器人奠定基础。这一段翻译成英文拜托别用在线翻译那种很多都是错的

Through image digitalization and digital image frame analysis, the dynamic change of arc state and droplet motion before and after its detachment from wire tip can be quantitively described. The kinematical and kinetical parameters of droplet motion can be solved. The development of the system provides a new way for the study of metal transfer mechanisms and the interaction between droplet transfer and weld pool.

该系统通过对高速摄影图象的数字化处理及时间图象序列分析，可以对熔滴过渡过程中电弧变化的动态过程及熔滴脱落前后的运动过程进行定量分析，并可提取出熔滴运动的各种运动学和动力学参数，为进一步的熔滴过渡机理及熔滴与熔池相互作用的研究提供了新的研究手段。

In this paper,the authoruses the method of the explicit finite-element numerical simulation, which isbased on the most simple two-dimensional-finite-element modle and kinematicsource model,to study the basic characteristics of near-fault ground motion, suchas the changing tendency of the hanging-wall effect and the vertical effect as weonly change the fault dip or the depth of the top of the fault.

本文拟利用最简单的二维有限单元模型和基于有限断层假定的震源运动学模型，采用集中质量显式有限元数值模拟的方法研究近断层地震动的特征，如上盘效应和竖向效应随断层倾角以及断层的上界埋深的变化而改变的趋势。

Focusing on the unique characteristics, multi-driven and structure-alterable two-vehicle, of the dexterous window-cleaning robot, this paper puts forward a completely distributed robot system with cell structure and distributed intelligence.

本文针对灵巧擦窗机器人的多驱动、可构形双车体的特点，提出了一种&单元结构、分布智能&概念的完全分布智能式机器人体系结构，并且，在此基础上对灵巧擦窗机器人控制系统的实现结构、全局规划、运动学模型、镇定和跟踪、分布式软件结构和实现、硬件系统的研制等方面的问题进行了深入的研究。

Based on the virtual prototype technology and simulative software platform Pro/E, the double rotating shaft supporting mechanism of wind tunnel testing model was designed and developed, and the mathematical model of angle control was established.

基于虚拟样机技术及仿真软件平台Pro/E，设计开发了风洞试验模型的双转轴支撑机构，建立了角度控制的数学模型，实现了机构的虚拟样机设计和运动学仿真，获取了被测试验模型运动情况的运动参数曲线，并对双转轴机构实施了干涉的动态检查，为双转轴机构设计方案的交流与评估，以及双转轴机构的制造与应用奠定了基础。

Beginning with forming mechanics of seal medium, the character of magnetic fluid has been researched and magnetic fluid, which fits the demand, is made out. Then from the point of fluid mechanics, the kinematics equation and Bernoulii equation of magnetic fluid are derived. Based on the production practic of sinterer, straight seal theory is given. Last of all, the accuracy of deriving of theory is proved by experiment.

作者首先从密封介质的形成机理入手，分析了磁性流体的性质，配制出符合要求的磁性流体，又从流体力学的角度推导出磁性流体的运动学方程和磁性流体的贝努力方程，根据烧结机生产的实际，进一步推导出应用于烧结机上的直线密封理论，最后通过试验验证了理论推导的正确性。

Based on the foundation of anatomizing the structure of robot, taking full advantage of parallel move performance of the double triangle boom of the rock-drilling robot ac-cording to the condition of the diversification of the boomend location brought by the change of each joint, integrating the knowledge of robot kinematics, an expert system is established to adopt the personate means, that is" the first toorientate the end, then to orientate the location "to realize the speediness orientation.

作者在分析凿岩机器人钻臂结构的基础上，利用钻臂的双三角支架的空间平移性能，根据各关节变化所引起的钻臂端部位姿的变化，综合机器人学中运动学知识，建立一个专家系统，采用拟人化的方案———&先定点，再定位姿&，解决凿岩臂的快速定位问题，以实现描述各关节位置的变量的快速逆运算。

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。