進給變速桿 的英文怎麼說
中文拼音 [jìngěibiànsùgǎn]
進給變速桿
英文
feed selection lever-
A general stack equation of mobile robot based on analyzing the motion of planar motion object and the mathematical models of four different kinds of common wheels is developed, accordingly, the mobility of mobile robot is addressed and the forward and inverse solutions to speed for specific configuration driven by differential speed are derived. utilizing the muir and newman convention, the description of the posture transformation matrices between different coordinate frames and the solution for the speed of point located on these frames are introduced. according to posture estimation, a more accurate method, dead reckoning algorithm, is developed for a specified configuration characterized by differential speed motorization, and simulations of this algorithm and other traditional methods are carried out using matlab while traversing a circular path
本文對兩輪差速驅動移動機器人的運動學及其本體緩沖設計進行了探討，在對平面運動物體運動分析的基礎上結合四種常用車輪的數學模型，推導出了一個通用的移動機器人堆積方程，在此基礎上分析了移動機器人的移動能力、並針對兩輪差速構型推導了速度正解與逆解；使用muir和newman的運動學建模方法，推導了移動機器人上點及連桿坐標系位姿、速度變換關系矩陣及求解方法；在移動機器人位姿識別方法中結合差速驅動構型對航位推演算法進行了分析：推導了一種理論精度較高的航位推算演算法，並使用matlab對其與傳統的推算演算法在跟蹤圓弧軌跡情況下進行了模擬；最後針對本文所研究的機器人給出了一種比較系統、可靠的緩沖結構設計思路，較好地解決了移動機器人作業過程中外界因素及本身設計中引入的各種不確定誤差問題；本論文研究成果已在本實驗室所開發的樣機上得到實現，經過應用與考核證明其中的分析與設計是切實可行的。Layout input pole length ' s locus when the mechanism follows kadang movement in two ways. one is multinomial curve locus and the other is linearity intermixed by parabola curve locus. we study the displacement > velocity and acceleration curve consulting time under variety velocity characters, and get the best curve and the best velocity character, which will have a very important significance for kadang movement ' s input control of this mechanism
對卡當運動輸入桿件的伸長進行了軌跡規劃，採用了多項式與混有拋物線的線性函數作為規劃軌跡，研究了不同速度參數條件下的位移、速度、加速度的時間變化曲線，給出了最優曲線和最優速度，這對于機構卡當運動輸入控制的實現和優化具有重要意義。
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