雅可比積分 的英文怎麼說
中文拼音 [yǎkěbǐjīfēn]
雅可比積分
英文
jacobi's integral- 雅 : 雅同「鴉」
- 比 : Ⅰ動詞1 （比較; 較量高下、 長短、距離、好壞等） compare; compete; contrast; match; emulate 2 （比...
- 積 : Ⅰ動詞（積累） amass; store up; accumulate Ⅱ形容詞（長時間積累下來的） long standing; long pending...
- 分 : 分Ⅰ名詞1. （成分） component 2. （職責和權利的限度） what is within one's duty or rights Ⅱ同 「份」Ⅲ動詞[書面語] （料想） judge
- 雅可比 : jacobian
- 積分 : 1. [數學] integral; integrate; integration 2. [體育] （積累的分數） accumulate points
-
The best scheme was chosen after analysis and comparing and the structure was designed. at same time, the kinematics analysis was conducted, coordinate transformation matrix using d - h method was set up, and the kinematics equation direct solution and inverse solution was deduced, the velocity jacobian matrix was constructed using vector product method, and the values of displacement and velocity of some special point including the wrist point were calculated. secondly, the working space of the robot was analyzed and the axes section of practical working space was drawn
首先，作者針對機器人的設計要求提出了多個方案，對其進行分析比較，選擇其中最優的方案進行了結構設計；同時進行了運動學分析，用d - h方法建立了坐標變換矩陣，推算了運動方程的正、逆解；用矢量積法推導了速度雅可比矩陣，並計算了包括腕點在內的一些點的位移和速度；然後藉助坐標變換矩陣進行工作空間分析，作出了實際工作空間的軸剖面。Using the theory of conformal transformation, the planar figures of the workspaces are mapped. on the study of the spherical 3 - dof serial mechanism workspaces, we can give the reachable workspace, the atlases of reachable workspaces, the mobile workspace and the atlases of mobile workspace of the spherical 3 - dof parallel mechanism which given geometric parameters. from these atlases, we can see that the mechanical function is better when 1, 2 was given and 1, 2 tend 90
再次對球面機構的性能進行研究，利用保角變換理論將球面機構工作空間在平面中表示，在分析串聯球面機構可達工作空間的基礎上，得出給定機構參數的並聯球面機構的可達工作空間和可達工作空間面積性能圖譜，得出對應于不同靈活度的靈巧工作空間和靈巧工作空間面積性能圖譜，結論表明，在給定機構參數_ 1 ， _ 2的情況下， _ 1 ， _ 2越是靠近90 ，其可達工作空間和靈巧工作空間面積越大；利用雅可比矩陣對機構進行奇異位形分析，得出幾種特定機構參數的奇異位形。In this paper, based on integrated solution of differential equation, we derived simple and analytical expression of elements of sentivity matrix and formed imaging equations
本文從微分方程的積分解出發，推導了表達式極為簡單的三維雅可比系數矩陣，構造了成像方程。
分享友人