机器人运动学的旋量表述

应用李群知识和旋量理论描述了串联机器人的刚体运动,建立了机器人运动学关系的算法,并利用软件Mathematica进行了算法的实现;选取了具有代表性的串联机器人进行了运动学关系的分析,对算法和程序进行了验证;最后将运动学关系式的旋量指数积方法与传统的D-H参数方法进行了比较分析,从运动学参数的几何描述以及运动学关系式对后期分析的影响2个方面分别阐述了旋量指数积描述方法的优势。     

基于有限元方法的凸齿镇压器运动学和动力学分析

为探索凸齿镇压器在作业过程中的运动学和动力学特性,基于验证有效性后的有限元模型,求解了凸齿镇压器外缘点运动轨迹和速度以及加速度随时间的变化规律曲线。结果表明:轮缘点所在凸齿冲击土壤的行为并未在轮缘点竖直方向速度最大时完成;凸齿镇压器轮缘外一点的绝对运动轨迹呈波动状态的余摆线形式;凸齿镇压器轮缘点在接地位置有与前进方向相反的相对滑动。     

2D versus 3D in the kinematic analysis of the horse at the trot

The handled trot of three Lusitano Purebred stallions was analyzed by using 2D and 3D kinematical analysis methods. Using the same capture and analysis system, 2D and 3D data of some linear (stride length, maximal height of the hoof trajectories) and angular (angular range of motion, inclination of bone segments) variables were obtained. A paired Student T-test was performed in order to detect statistically significant differences between data resulting from the two methodologies With respect to the angular variables, there were significant differences in scapula inclination, shoulder angle, cannon inclination and protraction-retraction angle in the forelimb variables, but none of them were statistically different in the hind limb. Differences between the two methods were found in most of the linear variables analyzed.     

连杆外延型曲柄摇杆机构的综合模型设计

为了改进机械锹，本文对它的核心机构—一种连杆外延而形成工作臂的曲柄摇杆机构，进行了结构及运动方面的综合分析。从而建立了该类机构的数学分析模型，并编写了相应的计算程序。由此可拓宽该机构的应用范围和提高其使用效果。     

连杆外延型曲柄摇杆机构的一种图谱分类法初探

本文在对连杆外延而形成工作臂的曲柄摇杆机构进行综合分析的基础上，着重对该类机构工作臂上工作点的运动特性进行了分析，揭示了机构工作点的运动变化与机构结构之间的内在联系，从而提出了该类机构的一种具有较强直观性、实用性、启发性和可比性的工作点运行轨迹图图谱分类法。     

基于MATLAB的移栽机械臂运动学分析与仿真

为了实现对四自由度移栽机械臂的精确控制,采用D-H法建立机械臂的连杆坐标系和运动学方程,实现了机械臂运动学正解。根据移栽机械臂的特点及参数,用解析法求得移栽机械臂的运动学逆解。运用MATLAB中的Robotics Tool-box工具箱对移栽机械臂进行运动学仿真,验证了所求得的正解和逆解。     

车用后栏板举升机构的计算机辅助动力学分析

对车用后栏板举升机构进行了运动学和动力学分析。利用MATLAB编制了相应的程序,并以实例进行了分析和计算,对分析此类机构的稳定性和优化设计具有一定的参考价值。     

Vertical ground reaction force-time histories of sound Warmblood horses trotting on a treadmill

The objective of this study was to establish representative treadmill ground reaction force (GRF) and interlimb co-ordination time data of clinically sound horses at the trot. It was anticipated that these normative standards would provide a reference data base against which lame horses could be compared. GRF-time histories were collected from 30 Warmblood riding horses with easy, wide natural gaits. Data were recorded of all four limbs simultaneously by the use of an instrumented treadmill. A total of 912 stride cycles per limb were analysed for force, time and spatial parameters and were averaged. The shape and amplitude of the treadmill force curves were very similar to force traces recorded with a stationary force plate. The horses showed a high degree of symmetry in all investigated parameters (95% reference interval of left-right asymmetry +/-1.8-6.8%). No significant differences were found between left and right mean values. Intra-individual coefficients of variance of the various parameters did not exceed 2.7%. Inter-individual coefficients of variance were 2.5-3.5 times larger than the respective intra-individual coefficients. An instrumented treadmill provides a number of decisive advantages, such as time-efficient data acquisition of all four feet simultaneously over successive strides, or the high regularity of the horse's gait pattern at controlled velocities, which allow the clinical assessment of locomotor performance of horses.     

基于视觉的并联移苗移栽机械臂运动控制分析

为了满足移苗移栽作业自动化对精度、速度和灵活性的需求,基于Delta机构设计了一种并联构型的穴盘移栽机械臂,建立了机械臂的运动学模型。本文在移栽机械臂的基础上增加了视觉识别环节,以相机获得幼苗图片,将相片传递至中央处理器完成图片预处理,对图像进行光滑、增强处理和识别,提取图片特征,计算出作业对象中心位置,将中心位置反馈至中央处理器,计算出运动量,中央处理器输出指令,从而控制末端执行器完成作业。     

基于MATLAB的六足机器人运动学分析仿真

本文以六足机器人为研究对象进行运动学分析,使用旋量理论求解出六足机器人运动学正解,并以运动学正解结果为依据结合Paden-Kahan子问题求解运动学逆解,在CATIA搭建三维模型,并导入MATLAB/Simulink,而后搭建平坦路面环境下的运动仿真,为后续的六足机器人运动平稳性的分析奠定了一定的基础。