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溜冰机器人     
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  ice-skater robot
     Study on Coordinated Control of Ice-Skater Robot
     溜冰机器人协调控制研究
短句来源
     Principle of Biped Ice-skater Robot and Its Kinematic Analysis
     双足溜冰机器人运动原理与运动学分析
短句来源
     The Design of Control System of Biped Ice-skater Robot
     双足溜冰机器人控制系统设计
短句来源
     An ice-skater robot of leg-wheeled passive wheel type was designed on the basis of rolling and skating principle.
     利用轮滑原理 ,设计了腿轮混合结构从动轮式溜冰机器人
短句来源
     The principle ,mechanism condition and applicable leg constructions of the Ice-skater robot was discussed based on the rolling motion,it is a kind of passive wheel type robot which simple the constrution of the legs and exibit high terrain adaptability.
     从驱动原理和腿轮结构上来说 ,从动轮式移动机器人 -溜冰机器人同一般轮式机器人有较大不同 ,它简化了轮式机器人腿轮结构 ,增加了轮式机器人灵活性和机动性。
短句来源
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  ice skater robot
     The kinematic state space representation and its corresponding control equation of the ice skater robot were presented.
     设计了溜冰机器人运动学状态空间表达式和运动学控制方程 .
短句来源
  skating robot
     An analysis and improvement upon the original structure of leg wheels of skating robot were advanced, and a simulation was carried out upon the moving characteristics of the skating robot while it was sliding. Some characteristics of movement were obtained, and set a foundation for further study from now on.
     对原有的溜冰机器人的腿轮结构进行了分析和改进,并对溜冰机器人滑行时的运动特性进行了仿真,得出了一些运动特性,为今后进一步研究打下了基础。
短句来源
  “溜冰机器人”译为未确定词的双语例句
     After founding the coordinate system the paper got the motion differential equation of this robot using generalized Lagrange Routh equation when nonholonomic constraints exist. This paper also discussed the pose of robot when it is in every gait and simulated the system motion by EXCEL 97. Lastly, some related conclusions were drawn.
     以小腿运动型溜冰机器人为例 ,运用非完整约束存在时的广义 Lagrange- Routh方程推导了机器人直线溜冰时的运动微分方程 ,并讨论了机器人在各步态时的位姿 ,利用 EXCEL97进行了运动仿真
短句来源
     This paper discussed the principle ,mechanism condition and applicable leg constructions of the iceskater robot based on the rolling motion, it is a kind of passive wheel type robot which simple the constrution of the legs and exibit high terrain adaptability.
     从驱动原理和腿轮结构上来说,溜冰机器人同一般轮式机器人有较大不同,它属于从动轮式机器人,简化了轮式机器人腿轮结构,增加了轮式机器人灵活性和机动性。
短句来源
     A PC and many microcomputers form a distributed control system, and the principle of the controller is also discussed.
     溜冰机器人控制器采用分级控制结构,本文对机器人分布式多机通信系统进行了设计。
短句来源
     A new leg wheel hybrid mobile robot named “ISR” was proposed. After introducing its basic constructions and principles, we built the straightforward kinematics equations based on the law of Newton dynamic analysis methods. The basic kinematics characteristics of straightforward motion were analyzed in detail.
     提出一种新的腿轮混合移动机器人———溜冰机器人 (ISR) ,在介绍了其基本原理和结构之后 ,根据牛顿力学原理建立了其直线运动时的运动学方程 ,并对机器人系统的运动学参数进行了优化 ,最后给出了计算机仿真结果与实验研究
短句来源
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This paper put forward the idea of ice skater robot of passive wheeled type integrating the features of wheeled mobile robots and legged mobile robots. Based on its principle, the paper discussed the constructions of thigh motion type and calf motion type of the ice skater robot respectively. After founding the coordinate system the paper got the motion differential equation of this robot using generalized Lagrange Routh equation when nonholonomic constraints exist. This paper also discussed the pose of...

This paper put forward the idea of ice skater robot of passive wheeled type integrating the features of wheeled mobile robots and legged mobile robots. Based on its principle, the paper discussed the constructions of thigh motion type and calf motion type of the ice skater robot respectively. After founding the coordinate system the paper got the motion differential equation of this robot using generalized Lagrange Routh equation when nonholonomic constraints exist. This paper also discussed the pose of robot when it is in every gait and simulated the system motion by EXCEL 97. Lastly, some related conclusions were drawn.

综合轮式和腿式机器人的优点 ,提出基于溜冰原理的从动轮式溜冰机器人概念 .讨论了大腿运动型和小腿运动型溜冰机器人的结构图 .以小腿运动型溜冰机器人为例 ,运用非完整约束存在时的广义 Lagrange- Routh方程推导了机器人直线溜冰时的运动微分方程 ,并讨论了机器人在各步态时的位姿 ,利用 EXCEL97进行了运动仿真

An ice skater robot of leg wheeled type was designed according to the Roller Walker and ALDURO. On the basis of kinematic analysis methods, the paper founded the inertial coordinate system and the wheel coordinate system respectively. Meanwhile, the kinematic constraint equations of the standard centered orientable wheel were created on the assumption that there is no slippage in normal direction and a pure rolling in tangential direction of the wheels. Then, the kinematic model was established and the...

An ice skater robot of leg wheeled type was designed according to the Roller Walker and ALDURO. On the basis of kinematic analysis methods, the paper founded the inertial coordinate system and the wheel coordinate system respectively. Meanwhile, the kinematic constraint equations of the standard centered orientable wheel were created on the assumption that there is no slippage in normal direction and a pure rolling in tangential direction of the wheels. Then, the kinematic model was established and the mobility was discussed based on the new concepts of motion characteristic matrix in normal direction and tangential direction. And the motion condition equation of the robot was gotten in sequence. The kinematic state space representation and its corresponding control equation of the ice skater robot were presented. At last, the paper analyzed the kinematics of the ice skater robot when it turns aside or skates straight respectively.

设计了腿轮混合结构的溜冰机器人 .基于常规的运动学分析方法 ,建立了相关的惯性坐标系和滚轮坐标系 ,并根据滚轮在法向无滑动、切向作纯滚动的假设 ,建立了中心定位轮的运动约束方程及机器人的运动学模型 .提出了法向和切向运动特征矩阵的概念 ,并讨论了机器人的移动性问题 ,得出机器人存在运动的条件 .设计了溜冰机器人运动学状态空间表达式和运动学控制方程 .以溜冰机器人为例 ,分析了其转弯和直线滑行时的运动学问题

This paper presented a new passive wheel type of Ice Staker Robot(ISR) which is subject to nonholomonic constraints on the basis of ice skating principle. The paper narrated briefly its turning principle and analyzed its turning conditions and got the expression of turning radius. Also, it put forward the idea of center before turning and center after turning. Then, the paper gave out the concept of Dynamic State Machine(DSM) to represent the relationship between the generalized parameters, and analyzed...

This paper presented a new passive wheel type of Ice Staker Robot(ISR) which is subject to nonholomonic constraints on the basis of ice skating principle. The paper narrated briefly its turning principle and analyzed its turning conditions and got the expression of turning radius. Also, it put forward the idea of center before turning and center after turning. Then, the paper gave out the concept of Dynamic State Machine(DSM) to represent the relationship between the generalized parameters, and analyzed its dynamics when the robot turns a corner using Maggi equation. Meanwhile, the paper gave out actual examples and simulated the result on computers.

利用溜冰原理 ,设计了从动轮式溜冰机器人 .在简要介绍其转弯原理的同时 ,分析了其转弯条件 ,得出转弯半径表达式 ,提出了超前式和滞后式转弯的概念 .在建立运动坐标系的基础上 ,利用动力学状态机的思想和非完整系统动力学分析方程—— Maggi方程 ,具体分析了其转弯时的动力学性能 ,给出实际算例并进行了计算机仿真

 
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