zero moment method 中文意思是什麼
zero moment method
解釋
零矩法-
As the legged system has a similar dynamics to that of three - dimensional inverted pendulum mode, whose supporting point is equivalently located at the zmp, what is more, there is dynamical relationship between the zero moment point ( zmp ) and the center of gravity ( cog ), so this paper proposed the method that controls the cog of the whole humanoid body system in real - time through the 3 - d inverted pendulum based on variable zmp : first, the irregular terrain analyzed and described, the author proposed an usual obstacles - spanning method, based on the position and the shape of obstacles, the author programmed the smooth trajectory of anklebones
由於機器人的腿系統和三維倒立擺模型有著相似的動力學特徵，模型的支撐點就是機器人的零力矩點zmp ，另外零力矩點zmp和重心cog之間存在著動態關系，本文採用基於可變zmp的三維倒立擺動力學原理來對類人猿機器人進行質心軌跡生成。首先，通過對復雜地況進行分類統一描述，提出了一套通用的越障軌跡規劃方法，結合復雜地況下障礙的位置和形狀，規劃了機器人連續的踝關節軌跡。 -
Abstract : cable - stayed is used to cable suspension, but cable force is calculated by manual, and only for less than 5 segments, and the prescion is poor. this paper puts forward “ zero moment method ”, which can not only calculate more segmental soupe force, but both temporary joint and fixed joint during construction. the mechanical concept is clear, and it is easy for calculating. it is fit for program, and the illustrations prove that the methods are right
文摘:斜拉扣掛在纜索吊裝中經常運用，但扣索索力多採用手工計算，且多用於5段以內的吊裝，計算復雜，精度低.本文提出「零彎矩法」 ，可計算任意多段扣索索力，既可計算拱肋在施工過程中各節段臨時鉸接，又可計算各節段固結的情況，將兩種連接方式統一成一種計算方法，力學概念清楚，計算簡便，適宜程，文中最後用示例證實本方法的正確性 -
The two kinds of joint connection half - rigidity characteristic about gabled frames are discussed. the criterion among rigid connection, zero rigidity connection, half rigidity connection is determined ; the joint ' s moment and rotation angle curve is analyzed ; the calculation method about joint initial rigidity is brought forward ; the ultimate moment ' s calculation formula is deduced ; the result calculated by the formulas is compared to one calculated by the norm ' s formulas
探討了門式剛架兩種端板節點連接的半剛性特性，確定了節點剛接、鉸接和半剛接劃分的標準；分析了節點受力時的彎矩轉角曲線關系；提出了節點的初始剛度的計算方法；提出了節點極限彎矩的計算公式，並與規范關于節點抗彎承載力計算的結果進行了比較。
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