Nonholonomic constraint is the constraint that contains time derivatives of the generalized coordinates of the system and is not integrable 非完整約束是指含有系統(tǒng)廣義坐標導數(shù)且不可積的約束。
The generalized coordinate of dtg with error in technics is studied . using , the dtg motion analysis is done 研究了具有工藝偏差的動力調(diào)諧速率陀螺儀的廣義坐標,利用廣義坐標對動力調(diào)諧速率陀螺儀進行了運動分析。
Nonholonomic constraint means that the constraint equation contains the time derivative of the systematic generalized coordinates , which are not integrable 非完整約束是指約束中含有廣義坐標的導數(shù),且這些導數(shù)不全部可積。
Then , the mathematical modeling is done to kinematics of the robot based on generalized coordinates . this method is easy to be calculated and understood 然后,基于廣義坐標對該機器人進行了運動學建模,該方法運算簡便、直觀易懂。
Corresponding software was developed which can be used for the research of the effects of generalized coordinates , link lengths and the inertia parameters of links on driving torques 研制的軟件可以應用于研究廣義坐標、桿長和構件的慣性參數(shù)對驅動力矩的影響。
Numeric - symbolic expressions of model matrix elements were derived , in which inertia parameters and lengths of links as well as generalized coordinates are expressed as symbols 將廣義坐標以及桿長和慣性參數(shù)作為符號量,導出了模型矩陣元素的數(shù)字符號表達式。
9 . by the research of metric tensor and riemann tensor on riemann manifold , we get the inherent curvature of configuration space belonging to parallel mechanism . so the relative coordinates and generalized coordinates are inevitable choice for parallel mechanism . 10 9 、通過對度量張量和riemann張量的研究,得出并聯(lián)機構運動可達子空間的內(nèi)在“彎曲”性質(zhì),指出使用相對坐標系和廣義坐標是研究并聯(lián)機構運動學和動力學問題的必然選擇。
The elastic vibration curves of generalized coordinates in a motion ' period are obtained ; the dynamics stresses in the links are calculated ; the change conditions , of vibration model of the first to fourth order are also obtained . a post - processing method , including color mapping and animation technique and so on , is used in the kinematics and dynamics analysis of planar linkage . the results of the application are favorable 充分運用matlab軟件強大的圖形顯示功能,將運動學、動力學分析結果進行了可視化處理,將色彩映射運用到圖形之中,并運用動畫技術,實現(xiàn)了動畫效果的圖形顯示,取得了較好的直觀效果。
With different clearance value , displacement curves and velocity curves of generalized coordinates as well as slider displacement error curves in a motion period are obtained . these curves are discussed . results show that if manufacturing cost is kept invariableness , in order to improve precision of mould - cuting , fitting precision of joint connecting the crank and coupler has priority to be considered to increase 采用四階rong - kuta法求解連續(xù)接觸模型的動力學方程,得到了一個運動周期內(nèi)運動副間隙取不同值時,各廣義坐標的位移、速度曲線和滑塊位移誤差曲線,并通過曲線分析,得出了要提高模切機主切機構精度,在相同加工成本條件下,應優(yōu)先考慮提高曲柄與連桿鉸接處的配合精度的結論。
In analytical mechanics, specifically the study of the rigid body dynamics of multibody systems, the term generalized coordinates refers to the parameters that describe the configuration of the system relative to some reference configuration. These parameters must uniquely define the configuration of the system relative to the reference configuration.