The physical model of 5 - axis sensor with 4 - sps & 1 - upu structure are constructed using the theory of physical model of the solution space , then the indices atlases are plotted 结合空间模型理论建立了4 - sps & 1 - upu结构五维力/力矩传感器的空间模型，绘制了各项同性的力/力矩与结构尺寸关联的性能图谱。
Of the 5 - axis f / t sensors with discoupling 4 - sps & 1 - upu structure , the force isotropy , sensitivity , stiffness are also analyzed . when building up the jacobian matrix the screw theory is applied , which offers a new way in the analysis of the f / t sensor 对解耦结构的4 - sps & 1 - upu结构五维力/力矩传感器的力各项同性、灵敏度、刚度的分析，雅可比矩阵的建立引入了空间螺旋理论的分析方法，实现多维力传感器分析的多种解决方案。
There seem to be a confusion between the vatican city state , the minuscule state that exists only since 1929 , and the holy see ( of rome ) , which is the entity which is active in all international relationships except those of a clearly territorial nature , such as membership of upu ( universal postal union ) , intelsat , cept and unidroit ( international institute for the unification of private law ) 人们似乎混淆了梵蒂冈城市以及这个国家的关系，这个最小的国家成立于1929年，罗马圣堂是一个实体，活跃在所有的国际关系中除了那些有明确领土的自然界，比如万国邮联，国际卫星通讯机构，以及国际统一私法协会的成员。
