推程運動角 的英文怎麼說

中文拼音 [tuīchéngyùndòngjiǎo]
推程運動角 英文
motion angle for rise travel
  • 推 : 動詞1 （向外用力使物體移動） push; shove 2 （磨或碾） turn a mill or grindstone; grind 3 （剪或削...
  • 程 : 名詞1 （規章; 法式） rule; regulation 2 （進度; 程序） order; procedure 3 （路途; 一段路） journe...
  • 運 : Ⅰ動詞1 （物體位置不斷變化） move; revolve 2 （搬運; 運輸） carry; transport 3 （運用） use; wield...
  • 角 : 角Ⅰ名詞1 （牛、羊、 鹿等頭上長出的堅硬的東西） horn 2 （古時軍中吹的樂器） bugle; horn 3 （形狀像...
  • 運動 : 運動[舊時用語] arrange things or get things done through pull
  1. The differential equations of rigid body compound motion in analytical form were derived. the approach to solve dynamics equations one by one and corresponding means to analyze drive force were submitted, which was the basis for further study on kinematics and dynamics of the mechanism

    著重論述了反三角函數唯一值的求解方法，推導了解折形式的剛體復合運動微分方程，提出動力學方程組逐次求解的方法和與之配套的驅動力分析方法，為后續的運動學和動力學分析奠定基礎。
  2. Them, the thesis has chosen three china ' s cases as object of study, corporatism and social resource theory as theoretical perspective, and the function of npo integrating social welfare resources as the point of study to research the mechanism of npo integrating social welfare resources, the factors which bring down its effects, the motive power of the development of npo in social welfare field. then, the conclusion comes into being : the instituting and running of a npo which has specific object is a effective mechanism to integrate social welfare resources ; in practice, npo can integrate social welfare resources by instituting former and informer social network ; the factors which bring down its effects include policy and themselves ; and there is several kind of power which can motive the development of npo in social welfare field

    本文選取了在發展程度上呈梯次性的中國三個個案為研究對象，以合作主義和社會資源理論為理論視角，以非營利組織對社會福利資源的整合功能為切入點，探討了非營利組織整合社會福利資源的機制、其效果的制約性因素、以及在社會福利領域推動非營利組織發展的動力，認為定位明確的非營利組織的成立與運營為社會福利資源的整合提供了一條可供選擇的有效的途徑，發現在實踐中非營利組織可利用正式的和非正式的兩種網路建構來開發整合社會福利資源，而現階段其整合效果受到政策環境和自身能力等因素的制約，推動非營利組織發展與能力健全的力量源泉主要來自需求推動、政策推動、專業知識推動和國際交往推動。
  3. This paper uses the main social individual ' s interdynamic game theoretic method and it attempts to, from the point of social individuals, to deduct performance of trust in the role in thrift course of the transaction, in order to make every effort to explain the structure of trust and interpersonal relationships with the visual angle of new system economics fundamentally, to analyze the social economic phenomenon of china

    本文主要運用社會個體互動博弈的分析方法和交易成本分析方法，試圖從社會個體博弈互動的行為中推演出信任在交易費用的節約過程中的作用，力求從根本上以新制度經濟學的視角解釋信任結構與人際關系，分析中國的社會經濟現象。
  4. This dissertation presents a document survey on the strategic management, the sustainable development theory, and strategic research on harbor development. analyses of the problems in current harbor development shows the critical one is that strategic management has not been adopted, which prevents harbors from accelerating the operational system of harbor development adequate to china ' s long - term harbor development and also obstructs fundamental facilities building and the informationalization process of the operational management, and may affect the selection of the harbor development models

    論文從戰略管理、可持續發展理論和港口發展戰略研究等方面進行文獻綜述，對目前港口發展中存在的問題進行分析，認為最關鍵、最核心的問題在於港口缺乏戰略管理，使得港口不能從戰略的高度、長遠的角度推動適合我國港口發展的經營體制的盡快實現，阻礙了港口的基礎設施建設和運營管理的信息化進程，同時也會影響港口發展模式的選擇。
  5. Equations of mesh, shorting contact line, undercutting limit line, meshing limit lines and the existence conditions, angle between the direction of relative speed and the direction of contact line, induced normal curvature about every point on the contact line are established. moreover, the paper also theoretically analyzed the error of the grinded gear surface. on the basis of the theory, the computer program is worked out to automatically produce the contact line and the boundary curves of mesh. analysis of meshing circs under different parameters can be done so that we can gain the best process condition

    首先對漸開面二次包絡理論進行了深入的探討，推導出了兩次嚙合的嚙合方程式、瞬時接觸線方程式、根切界限線方程式、嚙合界限線的方程式及其存在條件，相對運動速度方向與接觸線方向的夾角及接觸線上各點的誘導法曲率；此外，還對磨齒后工件的齒面誤差進行了理論分析；並在理論基礎上編制了相應的計算機程序，自動生成接觸線族及嚙合界限線，對不同參數條件下的嚙合情況進行分析，可以使工藝條件達到最佳狀態；最後研究了磨齒裝置，設計了磨齒機的傳動系統。
  6. In part two, the author discusses mr. deng ' s legal ideas in the course of reform in economic and political system. it also covers some new elements elicited from the practice of legal construction, such as the idea of " concentrating on economic construction on the one hand, and concentration on legal construction on the other " ; the request that conduct of the party and its leaders should be bounded by constitution and laws. furthermore, the author emphasizes the inherent link between the forming of these legal ideas and the political and economic practice of that time

    文章認為，從文革結束到20世紀90年代初這一歷史時期內，小平法律思想經歷的是一個從法制思想發展運動到法治思想的過程，現代法治理念的基本特徵在這一思想中基本上都已得到體現；而在這一偉大的變遷過程中，這一時期的經濟和政治體制改革充當的不僅僅是時代背景和活動舞臺的角色，更是推動這一變遷的決定力量，尤其是商品經濟在中國的發展更是使得法治意識在小平法律思想中生根發芽並最終確立了無可替代的地位。
  7. ( 5 ) aiming at the sls technology, the relationship between the rotation angle of mirror and x, y coordinates of scanning point are derived theoretically, according to which the cli file can be translated into pmac instructors

    （ 5 ）針對sls工藝，從理論上推導了振鏡式掃描系統中振鏡轉角與x 、 y坐標之間的關系，為cli格式文件向pmac運動程序的數據轉化提供了理論依據。
  8. This text completely and systematically studies the status and the development of the pyrolysis and the fluidization of biomass, which distill the bio - oil in the domestic and international area, as well as the existing problems. this thesis primarily include following aspects : ( l ), by experimenting and measuring the energy ( heat value ) and the content of c, h, n chemical element of right 20 kinds of common biomass, on the base of the experimental result, and respectively established the biomass energy predict experiment formula with the element of h and c is from change, and passed the ro. os examination, which provides the basis and convenience for flash pyrolysis fluidization device energy to convert the rate to compute with biomass energy utilization calculation ; ( 2 ), proceeded the tg and dtg experimentation equal velocity ( 10 ? / min, 20 ? / min, 40 ? / min, 60 ? / min ) heating and constant temperature heating by studying on eight kinds of biomass samples, according to the experimental data and arrhenius formula, we established the dynamics model of pyrolysis of, then, using the goast - redfern and p function, we also solved the dynamics parameters and analyze out every kind of biomass ' s frequency factor and parameters of activation energy, and established the every kind of dynamics model of pyrolysis of biomass, all of these provide the theories and basis to make sure the reactor ' s flash pyrolysis work temperature scope design and the describing of pyrolysis reactor dynamics ; ( 3 ), in order to study and ascertain the process of heat completely getting to pyrolysis time of varied size biomass particles, we observed and measured the ratio of length and diameter ( l / d ) with the varied biomass through electron microscope, we concluded the l / d ratios usually is from 5. 0 to 6. 0, the average is 5. 3 ; ( 4 ), we studied the process of biomass transiting and the theory of complete pyrolysis time with the theory of complicated heat field, we got the time ( t ) of the varied size biomass particles arriving to complete pyrolysis, and we knew that the complete pyrolysis time and the time which get to the biggest production ratio are identical, all of these studies provide the theory base for design and forecasting the flash pyrolysis reactor solid state resort time ; ( 5 ), according to the above experiment result, synthesize to make use of the engineering the mechanics, engineering the material, machine the design to learn the principle, deduce, establish the theory of rotation cone flash pyrolysis reactor material resort time ( t ) and reasonable rotation velocity ( or frequency ) relation theory ; and ( 6 ), we gave the reactor ' s smallest cone angle certain, reactor cone wall strength design theory, the reactor production ability theory, the power design method and the critical rotation velocity theory

    本文較全面、系統地綜述了國內外生物質熱解液化制取生物燃油技術研究發展現狀及存在的問題，主要研究內容有： （ 1 ）實驗、測定了20種常見生物質的能量（發熱量）和c 、 h 、 n元素含量，根據實驗結果分別建立了以h和c為自變量的生物質能量預測經驗公式，並通過r _ （ 0 . 05 ）檢驗；為閃速熱解液化裝置能量轉化率計算和生物質能量利用率計算提供了依據和方便； （ 2 ）選擇了8種生物質試樣作了等加熱速率（ 10 min 、 20 min 、 40 min 、 60 min ）和恆溫加熱的tg和dtg實驗，根據實驗數據和阿倫尼烏斯公式建立了生物質熱解反應動力學微分方程，並採用goast - redfem積分法和p函數對其動力學參數進行了求解，解析出各種生物質的頻率因子和活化能參數，進而建立了各種生物質的熱解動力學模型，為科學確定反應器的閃速熱解工作溫度范圍及熱解反應動力學描述，提供了理論和依據； （ 3 ）為研究和確定不同尺度的生物質顆粒中心達到全熱解的時間，在體視顯微鏡下對不同粒度的生物質顆粒的長徑比進行了實驗觀察和測定，得出生物質的長徑比（ l d ）一般在5 . 0 6 . 0之間，平均為5 . 3的結果； （ 4 ）採用復雜溫度場傳熱學理論對生物質傳熱過程及充分熱解時間理論進行了研究，解析推導出了不同尺寸生物質顆粒中心溫度達到充分熱解溫度的時間（ t ） ，得出了理論推導的充分熱解時間與最大產油率的熱解時間相一致的結果，為閃速熱解反應器固相滯留時間設計和預測提供了理論依據； （ 5 ）根據上述實驗結果，綜合運用工程力學、工程材料、機械設計學原理，推導、建立了轉錐式閃速熱解反應器物料滯留時間（ ）與轉速（或頻率）合理匹配理論； （ 6 ）提出了轉錐式閃速熱解反應器的最小錐角設計、錐壁強度設計、生產能力設計理論和功率計算方法及臨界轉速理論等。
  9. From the aspect of geometry, structure design, manufacture and examine, this paper generally summarizes the gcm ' s study progress in detail, discusses its kinetic rule and the determination of its primary structure parameter, and educes its surface equation and pressure angle equation based on the homogeneous matrix transformation and the conjugate engagement theory of spatial surface. on the basis of geometry study of gcm, the paper makes a comprehensive analysis to the interference phenomenon that will possible exist in the assemble course of two different structure of gcm with the help of matlab software

    本文從運動幾何學、結構設計、動力學、製造和檢測等方面對國內外弧面凸輪機構的研究進展進行了全面綜述，詳細論述了高速凸輪機構的運動規律和弧面凸輪機構基本尺寸的確定，基於空間曲面共軛嚙合原理，通過齊次變換推導了外弧面凸輪的曲面方程和壓力角方程，並提出了對應的廓面修形演算法；提出了內弧面凸輪機構的構想，推導了內弧面凸輪的曲面方程和壓力角方程。
  10. Based on a large number of literature references, combining the facts of chinese telecommunication operating enterprises development and the long - term practice of author in telecommunication administrative department, the article expatiates on related theories of strategic management in detail ; analyzes the development status in quo and existing primary problems of chinese telecommunication operating enterprises ; conducts strategic analysis and evaluation to chinese telecommunication enterprises with swot method, and analyzes the trade competition condition of chinese telecommunication operating enterprises from the point of industrial structure ; puts forward generic competitive strategy, stock system reform, multiple operation strategy, marketing strategy, enterprise innovation strategy and multinational operation strategy for choice by chinese telecommunication operating enterprises ; and puts forward strategy implementation measures in three aspects including starting up business process reengineering ( bpr ) as soon as possible, gradually establishing flexible organization under dynamic competitive condition, and actively driving development and management of human resource in knowledge enterprises

    本文結合我國電信運營企業發展的實際，及本人長期在電信管理部門工作的實踐，在查閱了大量文獻資料的基礎上，對戰略管理相關理論進行了較為詳盡的闡述；分析研究了中國電信運營企業的發展現狀和存在的主要問題；運用swot分析法對中國電信企業進行了戰略分析與評價，並從產業結構的角度對中國電信運營企業的行業競爭情況進行了分析；提出了可供我國電信運營企業選擇的一般競爭戰略、股份制改造、多元化經營戰略、市場營銷戰略、企業創新戰略、跨國經營戰略；並從盡早啟動企業業務流程重組（ bpr ） 、逐步建立動態競爭條件下的柔性組織、積極推進知識型企業人力資源的開發與管理三個方面，提出了戰略實施的措施。
  11. Its new global dynamic model in terms of measured joints is derived by coordinate transformation, and the decoupled control equations for joint relative angles and elastic parts of the flexible manipulator are obtained with the model - based nonlinear decoupling feedback control method

    通過坐標變換，推導出一種新的以可測關節角為變量的全局動態模型，並在此基礎上運用基於模型的非線性解耦反饋控制方法得到關節相對轉角與柔性臂的彈性變形部分解耦形式控制方程。
  12. A variable vector propeller, called the " varivec propeller ", is under development as a new propulsion system for the undersea robot. the varivec propeller is a kind of specific propeller that is capable of continuously generating any degree of thrust in any three dimensional direction by varying blades " pitches cyclically in the process of rotation and responds easily to the slightest change in the robot

    全方向推進器是一種在運動過程中螺距角可以變化的螺旋槳，該推進器是一種全新的設計，它最大特點是通過葉片螺距角在槳葉旋轉的過程中周期性的改變，產生前後、上下、左右六個方向的推力，並可以容易的對海洋機器人的微小運動作出反應。
  13. The research of human resource value measure models of this paper has very important theoretical meaning and realistic significance. under the guidance of marxian labor valve theory and occident human capital theory and element distribution theory, this paper aims at the high science & technology software development enterprise and designs model systems of human resource group value and individual value measuring, which not only adhere the traditional accounting principle, but also combine qualitative analysis with quantitative analysis. in detail, it is organized as follows : ( 1 ) according to some defects of the available value measuring models, this thesis brings forward 4 innovative trains of thought : adopts the method that combine qualitative analysis with quantitative analysis, and establishes the new measuring basis that contain human resource the present period input cost and realized value, and defines the high - grade human resource as the target evaluation group of individual value measuring, as the basis for revealing the real contribution of human resource group firstly and achieving individual value by distributing group value to the target evaluation group in according with the specific rules secondly ; ( 2 ) analyzes the constitution of human resource value, and comes up with new way of thinking on group value measuring : adopts the historical cost means to calculate human resource group the present period input cost, and rectifies the present period realization value theory of li - shicong professor from accounting angle, and obtains more scientifically the group present period new contribution value, as the basis for structuring the new measuring

    首先揭示組織中人力資源群體對企業的真實貢獻，然後再將群體價值以一定的規則分配給目標評估群，從而確認個人價值; （ 2 ）分析人力資源的價值構成，提出新的群體價值計量思路:採用歷史成本法計量群體當期投入成本，並對李世聰教授提出的當期實現價值理論從會計學角度進行了修正，更為科學地確定了群體當期新增貢獻價值，從而構建了全新的人力資源群體價值計量模型; （ 3 ）分析個人價值的影響因素及其關系，提出新的個人價值計量思路:運用層次分析法獲得目標評估群在群體當期新增價值中的權重，確定高級人力資源當期所創造的貢獻份額;基於崗位相對權重和個人崗位績效評估值這兩個關鍵指標，將層次分析法和關聯矩陣法結合起來，計算個人貢獻價值系數，確定某個體在目標評估群中的權重，從而構建了全新的人力資源個人價值計量模型; （ 4 ）選取了一家人力資本含量較高的it公司，將所構建的理論模型在該公司進行了實證檢驗，驗證了模型體系在實務中的科學性與可操作性，從而在一定程度上豐富了人力資源價值計量理論，推動了人力資源會計與現行會計核算體系的接軌。
  14. The methodologies that will be applied in this claim include : game theory, western labor economics, labor law theory, economics of property right and institutional economics. the important experiences achieved by the western market economies with regard to collective bargaining and collective agreement mechanism will be used as a reference point, all the while maintaining a focus on the changes taking place in the field of labor relations during the transitional period in china. finally, several important problems involving progression to a proper operation of the collective bargaining and collective agreement mechanism will be fully addressed, with the intent of advancing this mechanism forward to a new stage, and thereby realizing a more harmonious, stable labor relationship in china

    本文將在分析市場經濟條件下集體談判和集體合同制度一般規律的基礎上，充分運用博弈經濟學、西方勞動經濟學等學科的研究成果，借鑒西方發達市場經濟國家處理勞資沖突的重要經驗，結合我國向市場經濟過渡過程中勞動關系發生的新變化，分別從勞動法學、產權經濟學和制度經濟學的多重角度論證在我國現實條件下加快推行集體談判和集體合同制度的特殊必要性，並針對當前實踐過程當中所存在的若干主要問題進行較為深入的分析，以期推動集體談判和集體合同制度在我國的順利實施和運行，促進利益協調性勞動關系在我國的實現。
  15. In order to push the development of entrust model, increasing management quality is a necessary path. on this base we put forward the importance and necessity of management effect and quality, which are implemented by consultants of the entrust project. combining the foreign consulting evaluation theory with the practice condition in our country and viewpoint on the importance which is put by consultants, constructing project entrust management effect evaluation system is brought forward and ahp method is used to measure evaluation result

    為推動託管模式的發展，其必要途徑就是提高管理質量，在這基礎上提出了對承接託管項目的承接方的管理成果、管理質量進行評價的重要性和必要性，並在對國內外咨詢成果評價理論的基礎上，結合我國工程項目管理的實際情況，根據業主對工程項目管理質量的重視角度，建立了建設工程項目委託管理成果評價體系並運用層次分析法將評價結果量化。
  16. The explicit method is widely used for its simpleness and little memory consumed with local time step and variable coefficients implicit residual smooth to accelerate the convergence procedure. according to yoon and jameson ' s ideas, an efficient implicit lu - sgs algorithm is carefully constructed by combing the advantages of lu factorization and symmetric - gauss - seidel technique in such a way to make use the l and u operators scalar diagonal matrices, thus the numeric algorithm requires only scalar inversion. the computational efficiency is greatly improved with this scheme

    顯式方法具有簡單，消耗內存小等優點，並採用當地時間步長、變系數隱式殘值光順等加速收斂措施，在定常流動的模擬中得到了廣泛的應用;根據yoon和jameson提出的簡化正、負矩陣分裂，構造的l 、 u運算元只需進行標量對角陣求逆，極大提高了流場數值求解過程的計算效率;採用newton類型的偽時間子迭代技術使時間推進精度提高至二階。
  17. Taking the meshing theory of conjugate curved surface as a foundation, utilizing array method of rotation transformation of vector, the meshing equation and contour surface equation of conical cam mechanism with swinging conical roller follower were analyzed and derived, and the calculation formula of pressure angle and synthetic curvature of the mechanism was presented, thus laid a solid theoretical foundation for enhancing the machining accuracy of conical cam, improving its processing method and achieved the integration of cam cad / cam

    摘要以共軛曲面嚙合理論為基礎，運用矢量的旋轉變換矩陣法，分析並推導了圓錐滾子擺動從動件圓錐凸輪機構的嚙合方程和廓面方程，並給出了機構的壓力角和綜合曲率的計算公式，為圓錐凸輪加工精度的提高，改進其加工方法，實現凸輪cad / cam一體化奠定了堅實的理論基礎。
  18. Spacecrafts are working in the space environment, which is full of sorts of physical mediums. and these mediums will impact on the altitude movement of spacecraft. spacecraft attitude control during propulsive maneuvers is complicated due to several factors as listed below : ( i ) nonlinear dynamics with time delays, ( ii ) modeling and parameter uncertainties, ( iii ) flexible modes due to fuel sloshing and appendages, ( vi ) constraints on propulsive force and torque inputs, ( v ) constraints on acceptable angular rates and attitude, ( iv ) autonomous reconfiguration requirements under failure conditions

    飛行器是在一定的空間環境中飛行，而空間環境中充滿著各種物理介質，對飛行器的姿態運動產生不同程度的影響，所以空間飛行器的姿態控制相當復雜，它受到如下因素的制約： （ ? ）帶時延的非線性動態特性（ ? ）模型和參數的不確定性（ ? ）燃料的激蕩性以及燃料消耗所引起飛行器的質量變化（ ? ）推力和輸入力矩的約束性（ ? ）額定角速度約束和姿態約束（ ? ）在故障發生的情況下自動重新配置的必要性。
  19. Based on the general conception of holography, the author analyzes the tourism region with a holographic view of human - nature relationship, and considers, in the core, the origination, development, transformation of tourism region system is a course in which the resources system is transformed to the economic system ， to the cultural system, which demonstrates by the structure of tourism region objection system ? ? from the structure of tourism resources to the structure of tourism products ， to the structure of the tourism markets ， to the structure of tourism industries, and each step of transformation needs the input of anti - entropy from the subjection system ? ? the tourists, the tourism scholars, the tourism enterprising, the tourism media, the government and the local people who urge the region sustainable development. there are six chapters in the dissertation : in the first chapter, on the base of holographic view, the author constructs a holographic space which consists of one - dimensioned time, three - dimensioned space and multi - dimensioned system, which can supply for the study of variety and multi - perspective of tourism region subsystem, meanwhile originationable theory, fractal theory and down - to - the - earth theory are put forward as methodology, what ' s more, the author constructs the paradigm of the tourism region development as the frame of region tourism development. in the second chapter, with a holographic view, some concepts of tourism region system, both objection system and subjection system, are defined again, especially, the conception of tourism, tourist, tourism resources and tourism product, the author considers, it ' s only through information that can explain how the tourism derived and developed, what the tourist demands and utility are, and the relationship between the inner subjection system is regarded as mutuality

    本論文結構共分6個部分：第一部分，從全息學的基本觀點出發，構建出由一維時間、三維空間和多維系統組成的全息空間，這為研究旅遊地域各子系統的多樣性和多角度性提供了理論的依託，並將元化思考、分形理論和紮根理論作為旅遊地域開發的主要方法論，構建出旅遊地域全息開發的思維範式，為旅遊地域的開發奠定了堅實的理論框架；第二部分，從全息角度對旅遊地域系統，包括客體系統和主體系統，進行全新的界定，尤其對旅遊活動、旅遊者、旅遊資源及旅遊產品的概念進行全新界定，認為只有從信息角度才能理解旅遊活動產生、發展以及旅遊者的需求和效用，並在旅遊地域開發關繫上提出了互為主體的觀念；第三部分，從空間角度對旅遊地域進行分析，認為旅遊地域是運動的，要素運動形成要素的結構變化，進而推動整個旅遊地域的運動，同時，旅遊地域運動還受到環境系統的制約和影響，筆者還對旅遊地域相互作用關系作了較為深入的研究，認為不同等級間和同等級間旅遊地域相互作用遵循不同的規律；第四部分，通過對旅遊地域周期理論的再認識，詳細分析了影響旅遊周期的因素，並提出旅遊地域全息周期的理想模式是logistic曲線；第五部分，筆者對旅遊地域的開發模式進行了總結，從主體角度提出了4種旅遊地域全息開發模式? ?資源主導型、學者主導型、企業媒體主導型和政府大眾主導型，並從環境系統對旅遊地域開發的影響程度出發，提出2種修正模式? ?微阻礙模式和重阻礙模式；第六部分，以安西縣為例，在全息分析安西縣旅遊地域發展狀況之後，強調旅遊產品的開發與設計是旅遊地域開發的關鍵，並運用全息的觀點對旅遊產品開發進行了實證研究。
  20. According to the structure characteristics and motion rules of the new type nursing robot, the close loop control system of this new type nursing robot is designed and made with the virtual instrument developing software labwindows / cvi, mcu, piezoelectric ultrasonic motor and high precision optical incremental encoder, which can make the robot reset and rotate by the predefined tracks. at the same time, in order to make the nursing robots used more widely where intensity, precision and price are not high, another control system is designed with the step motor, virtual instrument developing software labwindows / cvi, multi - function daq card pci1711, linear power amplifier. in order to use the nursing robots in acupuncture therapy, a simple finger is designed

    在對其結構特點和運動規律分析的基礎上，本文以虛擬儀器編程語言labwindows / cvi為軟體開發工具，以單片機為控制核心，以超聲電機為驅動元件，以高精度光電編碼器作為速度和角位移檢測裝置，實現了機械臂的復位以及預定軌跡的閉環控制系統的開發;同時為適應一些強度不大、精度要求不高的應用場合，也為降低成本，簡化控制裝置，推動新型護理機械臂短期內應用推廣的需要，以目前應用較為廣泛、控制技術較為成熟的步進電機為驅動元件，用labwindows / cvi開發環境、 pci1711數據採集卡以及線性功率放大器開發了一套控制系統，實現了手臂的復位、勻速運動以及預定軌跡的控制系統;為推廣護理機器人在針灸理療中應用，設計了簡單的手指機構並利用labwindows / cvi開發環境，以及智能材料驅動器? ?層疊式壓電驅動器，進行了手指的抓取以及對驅動對象的轉動控制。
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