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针对杆状建筑的换装和清洗等问题,根据冗余理论设计了一种新型攀爬机器人,采用了气缸夹持机构和凸轮机构作为攀爬机器人。研究了攀爬机器人在攀爬过程中的步态,并对夹持机构进行了D-H参数运动学正向求解,分析了夹持机构的运动位移方程。利用ADAMS对机器人攀爬过程进行仿真,分析了攀爬过程中的上下夹持机构位移、速度和夹紧力的变化情况。仿真结果表明,攀爬机器人可以按照预设步态平稳地完成运动,速度最大为9.5 mm/s,夹持机构的夹紧力有一定的波动,但对机器人的攀爬稳定性影响较小,该夹持机构爪部可偏转,对锥状柱体的抓取也有一定的适应能力。 相似文献
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分析了步行车辆结构和转向特点,提出了对步行车辆转向的般要求,给出了步行车辆转向的定义和转向坐标系的建立方法;提出了用于步行车辆转向分析和转向步态拟定的角行程,角位置和角稳定裕度的概念。 相似文献
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水牛步态研究 总被引:4,自引:0,他引:4
鲁植雄 《南京农业大学学报》1995,18(4):123-126
水牛步态研究鲁植雄(南京农业大学农业工程学院,南京210032)ONGAITSOFABUFFALO¥LuZhixiong(CollegeofAgriculturalEngineering,NamingAgricUniv,Nanjing210032)水... 相似文献
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GAO Qing SHI Jizhen YANG Zhichao LUO Sunlin ZHANG Siwei HUANG Shangzhen ZHANG Hailiang LI Junwei GUO Gang WANG Yachun 《中国畜牧兽医》2007,47(12):4016-4023
To investigate the influencing factors of locomotion score (LS) and its impacts on production performance and blood routine index in Holstein,body condition score (BCS),LS and DHI (dairy herd improvement) of 1 486 lactating cows from two dairy farms,and the blood routine indexes of 101 lactating cows from one farm in Beijing were measured.The fixed model was used to analyze the impacts of herd,parity and lactation stage on LS,and the impacts of LS and BCS on daily milk yield,somatic cell score,milk composition and blood routine indexes in dairy cows.The results showed that both parity and lactation stage had significant impacts on LS.The LS increased with the increase of parit,the LS increased by 0.71 from first lactation to fifth and above lactation.The LS of cow in lactation stage Ⅲ(100-199 d) and Ⅵ (after 350 d) were significantly higher than cow in stage Ⅱ (45-99 d)(P<0.05),and both were higher than 2.The LS had no significant impacts on daily milk yield,milk composition and somatic cell score (P>0.05).However,the milk yield of the cow with LS≥4 was the lowest,and a decrease of 2.29 kg was found compared with the cow with LS=1.Among the various blood routine indexes,LS had significant impacts on red blood cell count,hemoglobin content,mean corpuscular hemoglobin concentration and lymphocyte count (P<0.05),and had no significant impacts on white blood cell count (P>0.05).With the increase of LS,the red blood cell count,hemoglobin content,mean corpuscular hemoglobin concentration and lymphocyte count of cows decreased with different extents.There were some problems on the body immunity and hematopoiesis of cows with poor LS.In dairy farm,regular evaluation of LS could be used to find the management problems of feet and legs,which had a great significance to reduce the loss of production performance and early culling caused by hoof disease. 相似文献
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【目的】研究不同赛道维护方式对伊犁马步态特征、比赛成绩的影响,为伊犁马选种选育和赛道维护提供依据。【方法】以8匹伊犁马公马为研究对象,设计1 600 m途程比赛。用高速摄像机记录伊犁马在不同赛道维护方式下直道、弯道、终点的步态特征的视频素材,终点计时系统记录马匹比赛成绩,分析不同赛道维护方式下伊犁马各赛段步态特征、比赛成绩的差异性。【结果】直道阶段,前肢双支撑相、前位前蹄支撑相压实组极显著低于耙地组和普通组(P<0.01);步频压实组极显著高于耙地组和普通组(P<0.01),耙地组显著低于普通组(P<0.05);双支撑相步幅、总步幅、最大开张角度压实组极显著高于耙地组(P<0.01),显著高于普通组(P<0.05)。弯道阶段,后位后蹄支撑相、后肢间隔期、前位后蹄支撑相、后位前蹄支撑相、对角双支撑相、前肢间隔期、前肢双支撑相、前位前蹄支撑相压实组均极显著低于耙地组和普通组(P<0.01);腾空期、步频压实组极显著高于耙地组和普通组(P<0.01);腾空期步幅压实组显著高于普通组步幅(P<0.05);最大开张角度压实组显著高于耙地组和普通组(P<0.05)。终点阶段,后肢间隔期、前位后蹄支撑相、前肢双支撑相、前位前蹄支撑相压实组显著低于耙地组(P<0.05);步频压实组极显著高于耙地组(P<0.01),耙地组显著低于普通组(P<0.05);后肢步幅压实组显著高于普通组(P<0.05);双支撑相步幅压实组极显著高于耙地组(P<0.01),耙地组显著低于普通组(P<0.05);最大开张角度压实组显著高于耙地组和普通组(P<0.05)。【结论】压实组马匹步幅、步频较大,比赛成绩最好,赛道状况的差异会导致运动性能的差异。在选种选育,评价马匹运动性能过程中应考虑赛道状况,以提高个体选择准确性。 相似文献