桿件坐標系 的英文怎麼說
中文拼音 [gǎnjiànzuòbiāoxì]
桿件坐標系
英文
member axis-
These axes are called member axes (or local axes).
這些坐標系叫做桿件坐標系（或局部坐標系）。On the condition of “ many - head ” and “ small drive ratio ” ， the plane double enveloping hourglass worm can not settle the problem of undercutting and sharpening simultaneously. it has devoted to a new type hourglass worm _ sphere double enveloping hourglass worm. the coordinate system is established according to the frock. the meshing equation and the tooth equation of worm and gear have been developed and the distribution of contact line on gear tooth is analyzed. to evaluate the meshing quality ， four meshing quality indexes and five original parameters are put forward. through mass programming computing ， the relations between meshing quality and original parameters are derived and depicted by graphs
考慮到平面二次包絡環面蝸桿傳動在多頭小傳動比條件下根切與齒頂變尖的矛盾很難同時解決且嚙合性能較差，介紹了一種新型環面蝸桿傳動? ?球面二次包絡環面蝸桿傳動.在研究過程中，根據工裝建立了坐標系，根據一二包過程的運動關系推得了嚙合方程和蝸桿與蝸輪的齒面方程，分析了蝸輪齒面上的接觸線分佈.為了評價嚙合性能，提出了4項性能指標和5項原始參數，通過大量編程計算得到了嚙合性能指標與原始參數之間的關系，並以圖表直觀的表示In chapter 2, author points out firstly that the elastic deformation of elastic units of a robot ' s wrist force sensor will be enlarged by the end - effector, the instruments and the work pieces, so the elastic deformation of the sensor will influence the location accuracy or kinetic accuracy of end point of a robot, under the condition of that the robot technology facing the developing of heavy load, light mass and high accuracy. it is discussed respectively that the relationship between the differential kinemics in the sensor ' s coordinate and the location accuracy or kinetic accuracy of the end point. error matrixes of location and kinemics of the end point are presented respectively based on the differential kinemics in the sensor ' s coordinate, and the on - line error compensation methods are introduced subsequently
第二章首先指出機器人腕力傳感器彈性體的彈性變形經過機器人末端連桿、工具、工件等的放大后，會對機器人末端精確定位和運動產生的影響；然後分別研究了傳感器坐標系內的微分運動與機器人末端工件精確定位、運動的關系；在此基礎上，研究了基於腕力傳感器彈性體微分運動的機器人末端定位、運動誤差的誤差矩陣及其在線誤差補償方法；基於機器人動力學的機器人末端定位、運動誤差的誤差矩陣及其在線誤差補償方法；最後，以puma型機器人為對象，給出了基於腕力傳感器內微分運動的機器人末端定位、運動誤差及其在線補償方法的模擬實例：給出了基於機器人動力學的機器人末端定位、運動誤差及其在線補償方法的模擬實例；模擬結果表明， 1 ）基於腕力傳感器的機器人末端定位誤差在腕力傳感器允許的載荷下可達十分之幾毫米級。These axes are called member axes ( or local axes )
這些坐標系叫做桿件坐標系（或局部坐標系） 。( 2 ) link coordinates of the manipulator were set up by denavit - hartenberg method. simultaneously, forward kinematics and inverse kinematics was modeled through homogeneous transformation and jacobian matrix was reached as well, which provided the basis for kinematics analysis, simulation and performance optimization
（ 2 ）採用denavit - hartenberg方法設定了番茄收獲機械手桿件坐標系，通過齊次變換建立了正運動學與逆運動學模型，獲得了番茄收獲機械手雅可比矩陣，為機械手運動學分析、模擬與性能優化奠定了理論基礎。The mechanism is divided into finite elements and researched by ked method. then kinematic differential equations are established for each element and the general kinematic differential equations are built through assembling all the elements. a closed numerical method based on the mode superposition principle is employed to solve the equations
將四連桿機構劃分為多個有限單元，建立其單元運動微分方程和系統運動微分方程，運用實振型疊加法的閉式演算法求出機構在一個運動周期中各個廣義坐標方向的彈性位移，同時求出機構不同位置時各構件上動應力分佈情況、機構前四階振型變化情況。Kinematic analysis : by denavit - hartenberg method, space geometry relationship of each pole relative to fixed reference frame can be described with equal index transform, also do space relationship of two adjacent poles with 4x4 equal index. so equivalent equal index transform matrix can be deduced from them. when sportive equations and sportive coordinate frame of workpiece exercise point are set up, the coordinate values of exercise point can be got, the pose and situation of two manipulators are analysed, in the end each joint valiable and its velocity, acceleration are worked o ut
運動學分析：利用denavit ? hartenberg法，用齊次變換描述各個桿件相對于固定參考系的空間幾何關系，用一4 4的齊次變換矩陣描述機鄰兩桿的空間關系，從而推導出等價齊次變換矩陣，建立兩機械手運動方程，確定工件作業點隨動坐標系，求出作業點坐標，對兩機械手的位姿進行解析，求出兩機械手的各關節變量及其速度、加速度值。分享友人