运动形式

• Kinematics simulation of four - foot robot before building the model of four - foot robot kinematics simulation , the gaits of many kinds of movement , such as walk , turn and so on , should be well designed first . then with the principle of machine obverse and inverse kinematics , we analysed the moving trace of four - foot robot ' s feet , body and knuckles , and so on , and built up the kinematics model of four - foot robot ' s all kinds of basic movement
  2 、四足机器人运动学仿真的模型。根据机器人运动学设计的基本要求，设计了四足机器人各种运动方式的步态，其中包括行走、转弯等运动形式。在此基础上，运用机构运动的运动学原理和逆运动学原理，确定了四足机器人足端、躯体、膝关节等的运动轨迹，建立了四足机器人各种基本运动如行走、转弯等的运动学模型。
• After validating the good agreement between simulated results and observed ones , the characteristics and the distribution rules of tides and tidal currents in the whole seas near to zhejiang are thoroughly analyzed , mainly based on the simulated results , combining with the observed conclusion . the co - tidal and co - range charts , co - current charts , types of tides and tidal currents , distribution of maximum possible tidal range and maximum possible tidal current , phenomenon of diurnal inequality , moving modes of tidal currents , tidal ellipses , distribution of tidal residual currents and the vertical structure of tidal currents and residual currents are investigated respectively . and thereout we draw a series of meaningful conclusions as follows , the main of these are : 1
  在验证模拟与实测符合良好的基础上，本文以模拟计算结果为主，结合实测资料的分析结论，对整个浙江近海的潮汐、潮流特征和分布规律作了全面、深入的探讨，分别对各主要分潮的潮汐同潮图、潮流同潮图、潮汐性质、潮流性质、最大可能潮差分布、潮汐日不等现象、最大可能流速分布、潮流的运动形式、潮流椭圆、余流分布以及潮流和余流的垂向结构等进行了研究，并由此得到了一系列有意义的结论。
• Qianlong ball is a patent sport product , which is innovated by beijing qianlong sports company . this innovation is a milestone in the sports history since this action breaks the traditional ball simple action model and brings a branch new dual action model . qianlong company pays close attention to qianlong sports extension all the time . the company has established multiform qianlong ball clubs in different big cities as shenzhen , etc . in the year of 2003 , olympic qianlong ball club opened in national olympic center in beijing . this club is mainly responsible for training qianlong ball coaches and professional athletes for domestic and foreign countries
  牵珑球是一项由牵珑体育用品公司拥有的发明专利产品，牵珑球运动可以说是体育运动史上一个重要里程碑，牵珑球运动突破的传统球类运动单一作用力运动形式，牵珑球运动是作用力与反作用力双立合而为一的一种新的运动形式。牵珑体育公司长期关注牵珑球运动的发展和普及工作，在深圳等国内许多城市有不同形式的牵珑球俱乐部，
• This project is based on the theory of mbs , analyzes all movement forms of 3 - axis nc machine tools , builds the movement models of all kinds of models , and summarizes the general movement model , which includes two methods ? rom work piece coordinate system to unitary coordinate system and from unitary coordinate system to work piece coordinate system . each method includes the movement models both under ideal condition and under error condition , so the 3 - axis nc machine tools are defined
  本课题以多体系统理论为基础，分析了三坐标数控机床的所有运动形式，建立了各种类型三坐标数控机床的运动模型，并从中概括出通用性的运动模型，其中包括从工件坐标系映射到机床参考坐标系和从机床参考坐标系映射到工件坐标系两种情况，每种情况又包括理想情况下和存在误差情况下的运动模型，解决了三坐标数控机床运动误差补偿的通用性问题。
• In order to maximum the economic or social benefit and minimize the negative results , one of the most effective intervening ways is to plan & design the destinations space and construct its spatial structure reasonably . this paper analysis and relates the basic models of tourism destination place planning & design in the view of its key elements with referencing the recent research achievements
  城市旅游空间结构是城市一定地理空间内地理要素的相对区位关系和分布形式，它是城市旅游长期发展过程中旅游者空间活动和区位选择的累积结果，而积聚与扩散一直是这个过程中两类基本的运动形式。
• On the grain - production aspect , there exist three kinds of levels of productive potentialities of natural output , economic output and ecological output ; in the field of grain circulation , there exist three kinds of material flow movement forms of grain yield fluctuating , grain imports and exports fluctuating and grain storage fluctuating ; in the field of grain consume , there exist three kinds of levels of primary demand , the well - to - do demand and the well - off demand
  全面粮食安全观，是指粮食生产可持续发展、粮食流通顺畅稳定、粮食消费公平与适度增长的一种粮食安全观。在粮食生产层面，粮食生产潜力具有自然产量、经济产量与生态产量三种水平；在粮食流通领域，存在粮食产量波动、粮食进出口波动与粮食储备量波动等三种物流运动形式；粮食消费表现为基本需求、小康需求与富裕需求等不同层次。
• It is constructed that radial impact and rubbing dynamics differential equations of the rotor system having the nonlinear rigidity on the unsteady and non - linear oil film . the bifurcation and chaos behavior of impact and rubbing fault rotor system caused by the parameters of nonlinear rigidity , rotor rotating speed , eccentric mass is analyzed , in the numerical value analysis method . the bifurcation diagrams , maximum lyapunov exponent diagrams , poincar maps , phase plane portraits , trajectories of journal center , time - history curve , amplitude spectra diagrams of the rotor motion are used
  ( 2 )建立了具有非线性刚度的转子系统在非稳态非线性油膜力作用下的径向碰摩动力学微分方程,并应用含高阶余项的非线性动力方程的线性化数值法研究了此类系统响应的复杂动力学行为,利用转子响应的分岔图、最大lyapunov指数曲线、 poincar截面映射、时域波形、相轨线、轴心轨迹、幅值谱等图形分析了系统响应的周期运动、拟周期运动、倍周期分岔、混沌等运动形式的转化与演变过程,重点研究了非线性刚度、转子转速、偏心质量等系统参数对碰摩故障转子系统的分岔和混沌行为的影响。
• In allusion to the coning motion of parachute systems in steady decent , the impact of several factors upon the motion forms of the system are discussed , and the influence of the different aerodynamic parameters on the system ’ s coning motion are analyzed significantly . on the base of these , theoretical formulae of the system ’ s steady coning motion are deduced to validate the model ’ s correctness
  针对降落伞系统在稳定下降过程中的锥摆现象,讨论各种因素对系统运动形式的影响,着重分析了不同的气动参数对系统锥摆运动的影响,在此基础上推导出系统稳定锥摆运动的理论公式,验证模型的正确性。
• Modular self - reconfigurable robot ( msr ) could change its configuration , expand motion patterns and execute many kinds of motion and manipulation tasks by utilizing the connectivity and inter - changeability between modules with the sensor ’ s information , it shows perfect task adaptability , liability , expansibility and economy
  模块化自重构机器人能够利用模块之间的连接性和互换性,以及模块传感器感知到的周围环境信息,通过大量模块之间的相互操作和运动来改变整体构型,扩展运动形式,完成多种运动及操作任务,体现了优良的任务适应性、可靠性、扩展性和经济性。