连杆运动

The coupling effect between elastic deformation and the rigid motion was concerned in the dynamic equations. At the same time, the flexible manipulators were assumed as Euler-Bernoulli beams, the elastic deformation of the manipulator was represented by modality truncation equations, both elastic and gravitational potential energy were considered to calculate the total energy for whole system, therefore the finial dynamic modeling is more accurate and simple than others published.

该方法考虑了柔性机械臂刚体运动和弹性变形之间的耦合影响，并将柔性机械臂假设为一段Euler-Bernoulli梁处理，将弹性变形用截断模态方程表示，同时考虑了弹性势能和重力势能的影响，得到的双连杆柔性机械臂的动力学模型具有模型准确、结构简单等特点。

This new mechanism composed of connecting rods and cams can effectively balance inertia force and realize complex motion locus.

用连杆—凸轮组成的旋转式递纸机构，能有效地平衡惯性力，同时能实现复杂的运动轨迹。

These formulations can be used to calculate velocity, acceleration, inertial force of each link, and the power of actuator of each joint, as well as the maximum capacity of the manipulator.

这些公式可用来计算机器人上各连杆的运动速度、加速度、惯性力，以及各关节上驱动器的功率和机器人的最大负荷能力。

In order to reduce the influence of the vibration on image quality, an irrotational displacement isolator is designed based on spatial mechanism and vibration theory, which mainly consists of base platform, moving platform, spatial linkage mechanism and vibration isolators.

为了减小振动对系统成像质量的影响，应用空间机构学原理和减振理论设计由基座平台、运动平台、空间连杆机构和减振元件组成的减振机构。

We may use the fan-shaped piston to rotate, through piston pin impetus the crank link motion gear movement, thus passes to the crank and then take the power direct to output.

它利用扇形活塞转子的摆动，通过活塞销带动曲柄连杆机构的运动，最终将力传到曲轴上作为动力输出。

Shaped piston to rotate, through piston pin impetus the crank link motion gear

动曲柄连杆机构的运动，最终将力传到曲轴上作为动力输出。

Shaped piston to rotate, through pistonpin impetus the crank link motion gear

动曲柄连杆机构的运动，最终将力传到曲轴上作为动力输出。

It uses the fan-shaped piston rotor in certain angle scope internal rotation swinging, through the piston pin impetus crank link motion gear movement, finally passes to the strength on the crank to take the dynamic output.

它利用扇形活塞转子在一定角度范围内旋转的摆动，通过活塞销带动曲柄连杆机构的运动，最终将力传到曲轴上作为动力输出。

This small movement will be transferred by a connecting rod to two piezo transducers, forming a push-pull arrangement.

这个小小的运动将移交由连杆两个压电传感器，形成了推挽安排。

Basing on the pressure measured in the engine cylinder,the load of the piston pin is accounted.

然后根据实际负荷与油膜承载力的平衡关系，计算出动载荷下每一时刻的油膜厚度，从而确定活塞销轴心在连杆小头铜套中的运动轨迹。

But we don't care about Battlegrounds.

但我们并不在乎沙场中的显露。

Ah! don't mention it, the butcher's shop is a horror.

啊！不用提了。提到肉，真是糟透了。