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Convert relationship of prototype robot joint angle and equivalent model joint angle is presented based on the method of kinematics inverse solution. The Jacobian algorithm of redundant robot for achieving effective joint excursion is studied, which is fit for digital calculating. The grads projection algorithm of redundant robot multi optimizing capability function's proportion factor is deduced. The issues of apery arm robot singularity and joint self-movement are researched. The simulation experiment result of apery arm joint self-movement and line movement is presented.

因为七自由度拟人手臂机器人的建模比较困难，采用了在等效模型下求解其运动学逆解的方法，给出了原机器人机构关节角与等效模型关节角之间的转换关系；提出了一种适于数值计算的有效的求解有关节偏置的冗余度机器人Jacobian的算法，并在此基础上推导了冗余度机器人多优化性能指标函数的均衡比例因子梯度投影算法；研究了拟人手臂机器人的奇异问题和关节自运动问题；给出了拟人手臂进行关节自运动和进行直线轨迹跟踪的仿真实验结果。

Through transformation of parameters, the meshing design system among Hy-Vo silent chain, sprocket and hob was built up based on the research of the pitch increment and the equivalent apothem increment of the effects on the common normal line length when the Hy-Vo silent chain was wrapped around and located on the sprocket, with the proper meshing conditions of Hy-Vo silent chain and sprocket into consideration. The design method of common normal line length was put forward that can be used when the value of the sprocket pressure angle was equal or unequal to the value of the Hy-Vo chain plate pressure angle.

在分析Hy-Vo齿形链链节围在链轮轮齿上定位时其节距增量和当量边心距增量对链轮公法线长度影响的基础上，根据Hy-Vo齿形链与链轮的正确啮合条件，通过参数变化，建立了Hy-Vo齿形链－链轮－滚刀三者之间的啮合设计体系，提出了既适用于链板齿形角等于链轮压力角情况，也适用于链板齿形角不等于链轮压力角情况的Hy-Vo齿形链链轮公法线长度的计算方法。

It is equivalent to a template, you can use for different enterprises, practicality and applicability are strong.

它相当于一个模板，可以针对不同的企业使用，实用性和适用性都很强。

The term apposition is used when paratactically joined forms are grammatically,but not in meaning,equivalent,e.g.

这个词是用来paratactically并列连接形式，但不是在语法意义、等效、例句。

When the appositional group appares in included position, one of its members is equivalent to a parenthesis: John the poor boyran away .

在这个图片中包括appares集团之一，它的成员的地位相当于一个括号：约翰那个可怜的男孩逃走。

Applying the concept of equivalent negative stiffness of axial forces, the approximate formula for the critical load of the system is suggested, and compared with theoretical results.

对伸臂位于项部的两层框架—筒体模型进行精确位移法分析，得到了结构有侧移失稳的临界荷载精确解。

Thirdly, for Bernstein-Durrmeyer-Bezier operators, we have given the approximation equivalent theorem in L_p(1 ≤ p≤∞).

三、我们给出了Bernstein-Durrmeyer-Bézier算子于L_p(1≤p≤∞)空间中逼近的等价定理。

Secondly, the approximation equivalent theorem for Bernstein-Kantorovich-Bezier operators have been studied by using of smooth modulus ω_φ_p in the space L_p(1 ≤ p≤∞).

二、利用光滑模ω_φ_p和与之相对应的K泛函研究了Bernstein-Kantorovich-Bézier算子于L_p(1≤p≤∞)空间中的逼近正、逆定理和等价定理。

In this paper we use pointwise modulus of smoothness to study approximation direct theorem and equivalent theorem for some linear operators and quasi-interpolant operators; Using pointwise modulus we discuss the strong converse inequality on K-functional; and using a modified weighted K-functional and weighted modulus of smoothness we study approximation with Jacobi weight on operator with non-zero first order moments.

本文利用点态光滑模ω_~(2r)来研究某些线性算子及逆中插式逼近正定理和等价定理；利用点态光滑模讨论其关于K-泛函的强逆不等式；同时利用一种改变的带权K-泛函和带权光滑模研究一阶矩不为零的算子的点态带Jacobi权逼近。

To begin with, he can quite happily swim below the surface of the water, wearing his equivalent of the aqualung in the shape of an air bubble which he traps beneath his stomach and between his legs, so that he may breathe under water.

首先，水蜘蛛带着一个相当于水肺的东西使其可以在水下自由畅泳。那东西的形状就像一个水泡，水蜘蛛把其藏在自己的腹部及腿下，以便让他可以在水下呼吸。

In the chapter 2, the theoretic knowledge about the photosensitive resin and the grinding tools was firstly introduced.

第二章阐述了光固化树脂结合剂磨具的相关理论研究。

Do not use the program's indenting or margin-setting features; these will be added during typesetting.

不要使用缩排，页面边缘设置之类的选项，偶看不大懂。