臂关节 meaning in English
shoulder joint
Examples
- The very important works by the researchers in the modeling and control for flexible manipulators are introduced ; the equations of the non - holonomic constrain and dynamics are formulated . on the base of dynamic model function derived by the planar two - link flexible manipulator , the model function can be obtained by coordinate transformation ; at last the control scheme based on model of the system is put in to use to insure track desired trajectory of joint angle
在第四章中，首先，我们对柔性机械臂的动力学建模和系统控制问题做了比较全面的介绍；然后，运用lagrange方程并结合假设模态法建立了平面两杆柔性空间机械臂系统的动力学方程。在此基础上，通过坐标变换导出了以可测关节角为控制输出变量的系统控制模型，基于此控制模型提出了柔性空间机械臂关节运动的动力学优化控制方案。 - The design undertaken mainly from the following aspects : 1 , mechanism ddesign : included the base and the joints : 2 , trasmission mechanism design : adopted a synchronous toothelike transmission bell ; 3 , balance system design : adopted springs and a brake and a lay air cylinder ; 4 , design parameter and verify alculation ; 5 , established motion equation by d - h method ; 6 , simulated the motion locus by matlab software ; 7 ^ mapping out the part drawing or asesembly drawing
本设计主要是从以下几个方面入手： 1 、机构设计：包括底座和臂关节的设计； 2 、传动机构设计：将驱动电机安装在底座上，利用同步齿型带、离合器传递手臂的动力；利用齿轮传动带动底座回转； 3 、平衡系统设计：采用了弹簧平衡系统、电磁式制动器和单向延时气缸； 4 、设计参数和校核计算； 5 、用d ? h法建立运动学方程； 6 、利用matlab软件对手臂的运动空间进行仿真； 7 、利用autocad2000绘图：包括零件图和装配图。