臂

The algorithm GS to solve the problem of inverse dynamics based on the optimal theory is proposed, by using the numerical methods of Gill and shooting target, the optimal joint driven torques are obtained With the smooth joint trajectory motion, a fast and stable inverse dynamics method is proposed, it provides a new effective way to control the flexible manipulator The trajectory planning in the joint space and Cartesian coordinates is especially discussed In terms of kinematics of space flexible link manipulators, a sequential integration method for inverse dynamic analysis of flexible manipulators is developed The concrete results of simulations tested and verified the validity of proposed methods, and some valuable conclusions are achieved.

提出了求解基于最优理论的柔性臂逆动力学问题的GS法(Gill—Shooting method)，得到了柔性臂关节的最优驱动力矩；提出了基于光滑关节运动轨迹的柔性臂逆动力学的快速稳定方法，为柔性臂控制提供了一条新的途径；探讨了关节空间和直角坐标空间柔性臂的轨迹规划问题；研究并完善了结合柔性臂运动学的顺序积分的逆动力学方法。通过具体实例的仿真研究，验证了所提出的柔性臂逆动力学方法的有效性，得出了一些很有价值的结论。

Length of the compages hoist jib is shown as fig.4-9, and set up them together by pins, after connected the first section and the second section, then install trolley and nacelle, and fixup them on the root of the hoist, and lay up the hoist on the support which has 1m height, so that the trolley and nacelle depart from the ground (shown as fig.4-11), then install the trolleying mechanism.

4.2.12.2 按照图 4-9 组合吊臂长度，用相应销轴把它们装配在一起，把第一节臂和第二节臂连接后，安上小车和吊篮，并把小车和吊篮固定在吊臂根部，把吊臂搁置在 1 米高左右的支架上，使小车和吊篮离开地面(见图 4-11)，装上小车牵引机构。

A SSR marker based linkage map covering chromosome 10 and the short arms of chromosomes 1 and 11 of rice was constructed and applied for mapping fertility-restoring genes in Zhenshan 97A/(Zhenshan 97B/Milyang 46)F_ 6 population consisting of 704 lines.

应用由704个株系组成的珍汕97A/(珍汕97B/密阳46)F6测交群体，针对水稻第10染色体和第1、11染色体短臂构建了微卫星标记连锁图谱，检测到控制野败型细胞质雄性不育育性恢复的4个QTL，其中位于第10染色体长臂中下部的Rf4具有主效效应，位于第1染色体短臂的Rf3具有较大效应，位于第10染色体长臂近着丝粒处的qRf10和第11染色体短臂近着丝粒处的qRf11表现出微效作用。

Head, crane operation with fixed fly jib, crane operation with luffing fly jib, crane Superlift operation with main boom, crane Superlift operation with fixed fly jib, and crane Superlift operation with luffing fly jib.

QUY600 QUY800 该系列产品最显著的特征是带超起工况。具有主臂重型臂工况、主臂轻型臂工况、固定副臂工况、塔式副臂工况，以及超起主臂工况、超起固定副臂工况、超起塔式副臂工况。

Seven Brachionus species in Lake Jinghu were found, of which Brachionus calycflorus, B. angularis, B.diversicornis and B.forficula were determined as common species due to their higher population densities and occurrence frequency. The population density of both B.calyciflorus and B. angularis reached the peak in February and March and decreased rapidly after April, while that of both B. diversicornis and B. forficula remained high during June-September and decreased sharply after October.

结果表明，镜湖常见的7种臂尾轮虫中，仅萼花臂尾轮虫、角突臂尾轮虫(B.angularis)、裂足臂尾轮虫(B.diversicornis)和剪形臂尾轮虫(B.forficula)的种群密度和出现频率较高；前两者种群密度高峰期均出现在2~3月份，4月份后均较低；后两者种群密度在6~9月份较高，而在10月份后很快下降。

The clamp device comprises the grip part connected with the clamp part through the linking part, with the clamp part composed of concave part and the first and second arms extended to both sides, the first concave slot horizontally going through the first arm, the second concave slot horizontally through the second arm, a U shape tunnel parallel with the horizontal surface formed by two arms and with the concave part, cylinder hole set inside the top and down side all symmetrical inside the second deep slot, rotary shaft with both ends insertable to the cylinder hole, linking pole component fixed on the rotary shaft, limit component set on the first arm locking the linking pole.

本发明提供一种夹取装置，该装置包括：握持部，夹取部通过连接部与握持部连接；夹取部包括：凹形部，及由其两侧延伸的第一臂和第二臂，构成容置空间；第一凹槽，水平穿设于所述的第一臂，第二凹槽水平穿设于所述的第二臂，分别平行于凹形部及所述两个臂构成的平面，形成U形通道；圆柱形孔，对称设置于第二深槽的上下侧壁内；转动轴，两端可插入所述圆柱形孔中转动；连杆组件，固定于转动轴上；限位件，设置在第一臂上，用于锁定连杆。

When the large rotating arm rotates, the transmission gear is driven to rotate around the fixed gear to rotate the planetary gear, which drives in turn the small rotating arm to rotate in the direction opposite to the large rotating arm, so that the shaft of the small rotating arm reciprocates across the rotation center of the large rotating arm.

当大旋臂旋转时，传动齿轮受到驱动沿固定齿轮周转并带动卫星齿轮转动，卫星齿轮带动小旋臂作与大旋臂反向的旋转，从而使小旋臂上的固定轴随着大、小旋臂的旋转不断往复越过大旋臂的旋心作直线运动。

A handle is arranged in the middle of the frame, and the handle is connected with a big bevel wheel through a small bevel wheel.

它包括框架、左伸缩臂、右伸缩臂，所述框架为中间空形，所述左伸缩臂和右伸缩臂的内侧为管形，外侧为蝶形，蝶形面上设有二排孔，所述框架两端分别嵌套左伸缩臂内侧和右伸缩臂内侧，左伸缩臂内顶端设置有左螺母，右伸缩臂内顶端设置有右螺母，所述的框架中部设有手柄，手柄通过小斜齿轮连接大斜齿轮，大斜齿轮连接有螺杆，所述螺杆有以中间为对向的螺纹，螺杆的两端分别与左螺母和右螺母相连接。

According to practical work condition, section of a three segment hoist boom is self-determined with SECWRITE commands, then a finite element model is directly established in ANSYS environment with ANSYS finite element analysis software. Using Beam44 beam unit and node degree of freedom coupling technique to simulate connecting between each boom section and conduct finite element analysis, calculated result of stress deformation for the boom is obtained. The result from digital simulation is in relative coincidence with theoretical analytic result and the nonlinear decline occurrence in boom bending moment curve is explained.

以ANSYS有限元分析软件为工具，按吊臂实际工况，运用SECWRITE命令自定义三节吊臂截面直接在ANSYS环境下创建有限元模型，使用Beam44梁单元和节点自由度耦合技术模拟各节臂的连接，进行有限元分析，得到吊臂应力变形数值计算结果，数值模拟所得结果与理论解析解相吻合，解释吊臂弯矩图出现非线性下降的原因。

QUY220 fully hydraulic crawler crane is equipped with multiple boom configuration including base boom, light boom, fixed jib and tower attachment, the maximum boom length for light boom is 96m, which with tower attachment is 117m, 3 boom offset angles match 99 boom combinations for tower attachment.

不完整，我来编辑QUY220全液压履带起重机具有多种吊臂类型配置，包括基本型主臂、轻型主臂、固定副臂和塔式副臂，轻型主臂最长达96米，加装塔式副臂可达117米，3种主臂角度配合99种臂架组合的塔式工况。

Next time I see you,I shall give you a black eye.

下次我看见你，我会打你一顿。

In this paper,design scheme of classification system of wood surface color is established.

提出了木质板材颜色分类的系统设计方案。