非机械的

Based on the analysis of the mechanism of robot manipulators, a trajectory tracking controlling research model is first built up with ADAMS, and its mathematical model is formulated through the study of robot kinematics and dynamics. After the modeling errors are analyzed in practical robotic systems, a conception of centralized error is brought forward according to the theory of weighting functions. In the case of modeling errors' exist, the robotic uncertain model is derived by introducing an auxiliary control variable into inverse dynamic analysis. The control strategy of robust exponential convergence is applied to the robotic uncertain model, the applicable conditions and the applicable controller with this application are presented. The stable control effect under three main model uncertainties (parametric errors, joint disturbs, joint frictions) are systematically studied on the previously built research model. The problems of robust exponential convergence controller which often results in unstable output and so produces a large relative error when the input trajectory is in a small range are resolved by adjusting the control parameters based on the controller's structure.

本文在机械手的机械结构分析基础上，利用ADAMS建立了用于机械手轨线跟踪控制研究的机械手模型；通过对机器人运动学和动力学问题的研究，建立了机械手研究的数学模型；分析了机器人系统中模型误差的主要来源，根据加权函数法分析，提出了模型集中误差的概念；在存有模型误差的情况下，采用逆动力学结构并引入辅助控制量，由机器人误差模型推导了机器人非确定性模型；提出了采用鲁棒指数收敛法对上述机器人非确定性模型进行鲁棒镇定的控制策略，并给出了对机器人进行鲁棒指数收敛控制时系统不确定因素应满足的匹配条件；针对机械手研究模型，深入研究了鲁棒指数收敛控制器对机器人系统中常见的模型参数误差、关节扰动、关节摩擦等不确定因素的镇定控制效果；针对鲁棒指数收敛控制器易产生控制量振荡的问题以及在小范围内系统轨线跟踪的稳态误差过大问题，本文分别提出了基于控制器结构的控制参数调整法和基于轨线跟踪范围大小的控制参数分段切换法。

Book equipment application in automobile, motorcycle, machinery foundation profession such as chain, fastener, bearing, box spanner, tool, special different type nut and flange surface nut, sides nut, welding nut, cover type nut , locknut, defence pine nut, pull hat nut, chain Luo pull, expansion gecko, independently axle gear, bicycle different type etc.

本设备应用于汽车、摩托车、机械基础行业（如链条、紧固件、轴承、套筒扳手、工具、特殊异型螺母、法兰面螺母、四方螺母、焊接螺母、盖型螺母、锁紧螺母、防松螺母、拉帽螺母、链条罗拉、膨胀壁虎、自行轴挡、自行车异型件等）等各类异型、复杂非标件的冷挤成型，适用范围广泛。

Objective:To investigate the effects of mechanical ventilation with synchronous and asynchronous extrasternum heart compression on cardiopulmonary resuscitation.

目的：探讨与胸外心脏按压同时和非同时机械通气在心肺复苏中应用的效果。

Due to total angular momentum conservation about the system centre of mass, a torque-free spacecraft system with space manipulators becomes the nonholonomic control system.

自由漂浮空间机械臂系统在无外力矩作用时，系统的动量矩守恒而成为非完整系统。

This invention discloses a preparation method for anti-corrosion rare earth magnet material characterizing that it takes the optimized grain-boundary phase design as the starting point on the basis of a dual alloy method to select Nd base alloy with high crystal forming ability as the assist alloy and reduces the temperature of the press mold blank in a quartz container to room temperature from over grain-boundary phase melting point with the water extraction way to get enough cooling rate and guarantee the non-grain-boundary phase, compared with the material of the same composition prepared by ordinary method, the weightlessness of this invented material reduces over 30% after testing the weightlessness of the material by laying it for 96 hours under 121deg.C, 2 atmosphere and 100% humid environment to show the advanced performance of anti-corrosion.

本发明公开了一种耐腐蚀稀土永磁材料的制备方法，其特征是它在双合金法制备工艺的基础上，以优化晶界相设计为出发点，选取具有较高非晶形成能力的Nd基合金为辅合金，并在烧结回火时将置于耐高温石英容器中的压型坯件，从晶界相熔点以上以水淬冷却的方式降温至室温，以达到足够的冷却速率，确保得到非晶晶界相，根据本发明制得的耐腐蚀稀土永磁材料，通过测量在121℃、2个大气压以及100％湿度环境下放置96小时后材料的失重情况，结果显示本发明得到的材料与常规方法制备的相同成分的稀土永磁材料相比失重减少了30％以上，充分证明其具备了更优越的耐腐蚀性能。可广泛应用于电子、汽车、计算机、电力、机械、能源、环保、国防、医疗器械等领域。

Be responsible for mechanical equipment design of metallurgy and float glass line

负责冶金机械设备或浮法玻璃生产线设备的非标设备设计

The Company is a design and manufacture of hydraulic machinery for many years of professional production enterprises, the company strong technical force, advanced production equipment, detection means complete, professional production of Q43 series of metal shears, Y81 series hydraulic metal balers, Y82 series non-metallic balers, Y83 series of scrap metal and machine, YZJ Series steel slitting machine, Y32 series of vertical four-post Hydraulic Press, Y63 series of city garbage compressor and other non-standard products.

本公司是一个具有设计制造液压机械多年历史的专业生产企业，公司技术力量雄厚，生产设备先进，检测手段齐全，专业生产Q43系列金属剪切机，Y81系列液压金属打包机，Y82系列非金属打包机，Y83系列金属屑并机，YZJ系列钢板纵剪机，Y32系列立式四柱液压机，Y63系列城市垃圾压缩机及其它非标产品。

An augmented computational model for the forward dynamics is developed by using the Jourdain principle and the vector of Lagrange multipliers.

利用Jourdain原理来消除约束反力，并通过引入Lagrange乘子释放约束，得到了机械臂正动力学非递推形式的计算模型。

Factory main products: all sizes, materials, types of high, medium and low pressure vessels and non-standard equipment, liquefied petroleum gas storage station complete sets of equipment, Dao Shuren, grinder, a round knife grinder, papermaking machinery series.

工厂主要产品有：各种规格、材质、类别的高、中、低压力容器及非标设备，液化石油气贮备站成套设备，长刀磨床、圆刀磨床、造纸机械系列等。

Using the analysis of differential scanning calorimetry, three exothermic peaks were found which were mainly attributed to crystallization of α-(373℃), relaxation of internal strain (410℃) and crystallization of the residual amorphous matrix (540℃) respectively.

对机械合金化形成的非晶〓的DSC测量表明：在40℃到700℃范围内，有三个位于373℃，417℃和540℃左右的放热过程，分别α-相的结晶，内应变的降低和残余非晶相的晶化。

In the United States, chronic alcoholism and hepatitis C are the most common ones.

在美国，慢性酒精中毒，肝炎是最常见的。

If you have any questions, you can contact me anytime.

如果有任何问题，你可以随时联系我。