驅動剛度 的英文怎麼說
中文拼音 [qūdònggāngdù]
驅動剛度
英文
driing stiffness-
A numerical simulation of a planar 3r manipulator is performed. the results show that the non - linear torsion springs have important influences on the joint error and tip error of manipulators. moreover, the influences of linear part of non - linear, the lumped mass of the rigid links and the angular acceleration of joint actuators on the non - linear dynamic character of flexible joint manipulator are discussed
首先，建立了剛性桿非線性關節機器人的動力學模型，之後通過一平面3r機器人進行了數值模擬，說明了在一定情況下，關節的非線性對剛性桿機器人關節變形和末端誤差具有重要影響，並在此基礎上，討論了關節線性項、桿的集中質量和關節驅動加速度對機器人關節非線性特性的影響。The properties of cn thin films such as their morphology, component, crystal structure and the bonding structure and the relation between those properties and the gas - phase reaction parameters were discussed, showing that the deposition of p - c3n4 thin film is the compete result of various reaction processes in the dynamics balance conditions ; the process of cn films depo sition is diagnosed in situ through the optical emission spectra technique, the effects of experimental parameters on the concentration of the precursors and the gas - phase reactions in the plasma have been obtained ; the main reaction precursors for film deposition identified ; the relation between the characteristics of cn thin films and the reaction process in the plasma is analyzed. the cn thin films deposition under different substrate temperatures in high pressure pe - pld shows that the si atom of the substrate has participated the cn films growth process, based on this the growth mode of cn thin films on the si substrate is proposed. the further experiment of cn thin films deposition on si substrate scratched by diamond as well as covered with fe catalyzer has been attempted, which indicates that changing the dynamics conditions of the surface reaction can alter the growth characteristic of the cn thin films and can enhance obviously the films growth rate
採用pld技術進行了碳氮化合物薄膜沉積，得到了含氮量為21at的cn薄膜；研究了襯底溫度和反應氣體壓強對薄膜結構特性的影響，給出了cn薄膜中n含量較小、 sp ~ 3鍵合結構成分較少和薄膜中僅含有局域cn晶體的原因；引入脈沖輝光放電等離子體增強pld的氣相反應，給出了提高薄膜晶態sp ~ 3鍵合結構成分和薄膜的含n量可行性途徑；應用pe - cvd技術以ch _ 4 + n _ 2為反應氣體並引入輔助氣體h _ 2 ，得到了含n量為56at的晶態cn薄膜；探討了cn薄膜形貌、成分、晶體結構、價鍵狀態等特性及其與氣體壓強和放電電流的關系，證明了- c _ 3n _ 4薄膜沉積為滿足動力學平衡條件的各種反應過程的競爭結果；採用光學發射譜技術對cn薄膜生長過程進行了實時診斷，得到了實驗參量對等離子體中活性粒子相對濃度和氣相反應過程的影響規律，給出了cn薄膜沉積的主要反應前驅物，揭示了cn薄膜特性和等離子體內反應過程之間的聯系；採用高氣壓pe - pld技術研究了不同襯底溫度條件下cn化合物薄膜的結構特性，揭示了si原子對薄膜生長過程的影響，給出了si基表面碳氮薄膜的生長模式；在金剛石研磨和催化劑fe處理的si襯底上進行cn薄膜沉積，證明了通過控制材料表面動力學條件可以改變碳氮薄膜結構特性，並可顯著提高晶態碳氮材料的生長速率。The actuator is set in the joint axis in traditional arm, this increased the arm inertia, the dynamical property of robot is poor. if put the actuator on base, and transfer the movement and force to joints through tendons ( cable ), the weight and size of arm can be decreased. furthermore, consider from bionics, tendon ( cable ) - driven is more closed to the movement and force transfer mode of lives using muscles
腱（柔索）驅動機構具有廣泛的應用前景，本文對其在其他領域的研究和應用情況進行了敘述，以在風洞中的應用為例，給出了一類腱（柔索）驅動機構的構型設計，創造性地運用正交補的方法分析了其工作空間，並研究了柔索受力、剛度條件及誤差補償的方法，為柔索驅動並聯機構在風洞中的應用打下了基礎。Parallel manipulator has been developed based on the parallel mechanism. compared with the traditional series - connected robot, the parallel manipulator has its movement platforms actuated in parallel by several simple series connected movements chains, therefore has stronger bearing capacity, better dynamic performance and bigger ratio of rigidity load, thus are becoming more and more attractive to researchers and manufacturers. it has also become a research hot point in the manufacturing industries
基於並聯機構發展起來的並聯機器人由於其運動平臺由幾個簡單的串聯運動鏈并行驅動，與傳統的串聯機器人相比，具有承載能力強、動態性能好、剛度重量比大等優點，並因為這些優點而日益受到廣大學者及製造商的重視，現在正在成為製造領域的一個研究熱點。Pmt enjoy following advantages over traditional five - coordinates nc machine tools : high stiffness weight ratio, high feed speed, high environmental suitability, high additional technology value etc. but it also has shortcomings such as small workspace, limited area for backhaul movement, complex of moving control and difficult for precision compensation
與傳統機床相比，並聯機床具有剛度重量比大、響應速度快、環境適應性強和技術附加值高等優點，但它又同時有運動范圍（工作空間）小的缺點，特別是回程運動范圍有限，驅動控制復雜和難以進行準確的精度補償。With the hepale code, the simulated results are reported about problems of plate impact, the copper bar impacted the rigid well ( taylor bar ), the propagation of detonation, and the motion of a plane and a cylinder shell driven by explosives, and they are basically in agreement with experiment, as well as one obtained by ls - dyna
應用hepale程序對平面碰撞、銅棒碰撞剛性壁（ taylor桿問題） 、爆轟波的傳播、炸藥驅動金屬平板和柱殼進行了數值模擬，並與有關理論解析結果或者實驗結果以及ls - dyna程序、 lagrange程序的計算結果進行了比較，符合程度較好。分享友人