运动方程

The main tops of research and creative points of the dissertation are as follows: The gear surface equations are deduced strictly from the space meshing analysis of planar enveloping hourglass meshing surface.

主要研究工作及创新点如下：论文在对平面包络啮合成型运动进行空间啮合分析的基础上，进行了平面包络环面蜗轮副啮合齿面方程的严格推导，进行工具母面坐标系的统一化处理，并利用计算机技术，对平面包络环面蜗轮副啮合型面进行整体理论实体造型，建立了啮合型面的网格化整体理论模型。

A motion reference coordinate system of this quadruped robot and its simplified-structure of the multi-rigid body dynamics model are established. After kinematic and dynamic analysis, the kinematic equation, inverse kinematic equation and Jacobi matrix of the quadruped robot are presented, and the second kind of Lagrange dynamic equation group for simplified-structure of the quadruped robots multi-rigid body system is educed.

建立了该机器人的运动坐标体系，及其等效简化结构的多刚体动力学模型，对上述模型进行了运动学和动力学分析，给出了该机器人的运动学、逆运动学方程和雅可比矩阵，并导出了其简化结构多刚体系统的第二类Lagrange动力学方程组。

This equation refltects that the law of motion of statistical thermodynamics is stochasitc, but not deterministic.

这个方程反映了统计热力学的运动规律是随机性的而非确定性的。

The differential equation of motion and boundary conditions of the plates are derived using Hamilton's principle.

用Hamilton原理推导了这种板的运动微分方程和边界条件。

If you tried to solve the equations for the balloon's crazy flitter, its path would be nonlinear, therefore almost unsolvable, and therefore unforeseeable.

如果你试图用方程来解决气球那疯狂的飞舞运动，你会发现它的路径是非线性的，因此几乎是不可解的，这就导致了它的不可预测性。

In this dissertation, dynamic problems of 6-RTRT parallel robot including modeling of dynamics, analysis of velocity and acceleration, establishment of Lagrangian dynamic equation, computation of inertia force and driving torque are analyzed using influence coefficient method.

本文用运动影响系数法对6-RTRT并联机器人进行了动力学研究，完成了动力学建模，分析了速度和加速度，建立了拉格朗日动力学方程，并完成了惯性力和驱动力矩的计算。

Using Fourier series expansion and Laplace transform,a global dynamic equilibrium equation in the spatial state-space form is obtained.

文中利用Fourier级数展开，Laplace变换，推导了变厚度圆锥壳状态空间形式的运动微分方程。

The analytical solution of the beam response was obtained by applying the Fourier integral transformation and the residue theorem, followed by a comprehensive parametric study to investigate the effects of the subsoil depth, the material stiffness and the load speed on the beam response.

运用Fourier积分变换和留数定理对动力控制方程进行求解，得到了平面应变条件下覆盖于基岩的均质弹性层和非均质弹性层地基上梁的动力响应解析解，并进一步分析了荷载运动速度、地基厚度及地基非均质性等对梁变形的影响规律。

Firstly,the trajectory of center of mass of the robot is planned by solving the two dimensional dynamic equations of "virtual leg" in jumping phase,and the COM of robot moves like a free falling body in the air in flight phase.

首先，规划机器人质心的轨迹；在起跳阶段通过求解"虚拟腿"的二自由度动力学方程，规划机器人质心的轨迹；在飞行阶段机器人质心做自由落体运动。

In order to discuss chaos motion, a kind of nonlinear dynamical free oscillation equation is solved.

为了讨论混沌运动，对一类非线性动力系统的自由振动方程进行了求解。

It has been put forward that there exists single Ball point and double Ball points on the symmetrical connecting-rod curves of equilateral mechanisms.

从鲍尔点的形成原理出发，分析对称连杆曲线上鲍尔点的产生条件，提出等边机构的对称连杆曲线上有单鲍尔点和双鲍尔点。

The factory affiliated to the Group primarily manufactures multiple-purpose pincers, baking kits, knives, scissors, kitchenware, gardening tools and beauty care kits as well as other hardware tools, the annual production value of which reaches US$ 30 million dollars.

集团所属工厂主要生产多用钳、烤具、刀具、剪刀、厨具、花园工具、美容套等五金产品，年生产总值3000万美元，产品价廉物美、选料上乘、质量保证，深受国内外客户的青睐