自由度

The system of drive are all driven by stepping motors.the machine system design includes every free degrees,computation of drive and transmission system .the third and four degree of freedom are performed by the feed screw having the spline of ball bearing which is design specially for robot .with the textual study,it can be believe the user will have an overall understanding to the way of thinking and steps of the machine system.

在机械系统设计上，对每个自由度驱动、传动系统进行了计算与校核，其中第三四自由度有专为机器人设计的带滚珠花键的丝杠来实现。通过本文的学习，相信使用者会对它的机械系统设计的步骤和方法有一定的了解。关键词 SCARA机器人，谐波减速器，机械系统，丝杠

Based on the torsion joint, 3-DOF finger and 5-DOF finger, a flexible pneumatic dexterous multi-fingered hand is proposed. This hand simulates the hand of human beings in structure and functions. The characteristics of this hand are summarized. The designing feasibility of this kind of hand is analyzed and the research directions are discussed.

在气动柔性扭转关节，三自由度手指和五自由度手指的基础上，提出了模拟人手结构和功能的气动柔性多指灵巧手，总结了气动柔性多指灵巧手的特点，并分析了多指灵巧手设计的可行性及研究思路。

Finally, based on the consistence analysis of both formulations, quantitative judgment criteria are concluded to cap- ture the relationship between the theoretical constrained DOFs and the practical constrained DOFs.

最后，基于对两种公式化所做的一贯分析，数量上的判断标准被总结出来获取理论上的受约制自由度和实践上的受约制自由度。

I contend this is made possible by the method's loosely defined rules and the ability to postulate a large number of nested waves of varying magnitude. This gives the Elliott analyst the same freedom and flexibility that allowed pre-Copernican astronomers to explain all observed planet movements even though their underlying theory of an Earth-centered universe was wrong.

我认为这可能是因为波浪理论中对所定义的规则相对松散以及对诸多不同范围内的巢式波浪所作假设的能力，使艾略特分析人员都拥有相同的自由度和灵活性，正是这种自由度和灵活性，使哥白尼时代之前的天文学家能解释称前人观察到的所有的行星运动甚至他们以地球为中心的宇宙概念而提出的基础理论全部都是错误的。

I contend this is made possible by the method's loosely defined rules and the ability to postulate a large number of nested waves of varying magnitude. This gives the Elliott analyst the same freedom and flexibility that allowed pre-Copernican astronomers to explain all observed planet movements even though their underlying theory of an Earth-centered universe was wrong.

我认为这可能是因为波浪理论中对所定义的规则相对松散以及对诸多不同范围内的巢式波浪所作假设的能力，正因如此，使它们使艾略特分析人员都拥有同样的自由度和灵活性，而正是这种自由度和灵活性，使哥白尼时代之前的天文学家能解释称前人观察到的所有的行星运动甚至对其以地球为中心的宇宙概念而提出的基础理论全部都是错误的。

Design of a high-rise business-living building with double-tower structure with enlarged base ;2. Dynamic response analysis of an asymmetric two-tower tall storeyed building with enlarged base ;3. Based on the mode analysis and time-history analysis of two examples,the vibration characteristics of the connected twin-tower structures with enlarged base in vertical earthquake excitation was discussed in this paper,and the calculating results of the structures with or without connecter,both with enlarged base are compared.

采用平面杆系模型并用静力凝聚法消除结构耦联的水平自由度和转角自由度，结合两个算例的竖向振动模态分析和时程响应分析，探讨了大底盘双塔楼连体结构在竖向地震作用下的振动特性，对比了大底盘双塔楼结构有无连体结构形式的计算结果，得出了这种结构形式在竖向地震作用下的一些特性和具有参考价值的结论。

With the rigid-body systematical kinetics theory, the 2-D and 3-D kinetics models and the kinetics parameters of the weapon are built up.

应用多刚体系统动力学基本理论建立了该武器的二自由度和三自由度动力学模型和动力学参数优化模型。

Because the rigid-body motion includes the translation along with center of mass and the rotation about it, there are couplings between different rigid-bodies, and between different degree-of-freedoms of a single rigid-body.

刚体运动包括质心的平动和绕质心的转动，因而多刚体系统中不仅包括刚体之间的自由度耦合，而且包括刚体本身自由度之间的耦合。

Based on the equations, the position and attitude of micro flying robot with flapping wings can be controlled.For the rigid structure wing, a double rocker mechanism typical of two DOFs is designed, which is actuated by two PZTs. The mechanism can actuate the rigid wing to realize two DOFs movements. This mechanism has many characteristics, simple instructure, light in weight, reliable in movement, large in range, easy in drive and convenience in control.

设计了一个采用压电双晶片驱动的两自由度的双摇杆拍翅机构，该机构可以驱动刚性翅实现两自由度的拍翅运动，具有：结构简单、重量轻、动作可靠、拍动幅度大、驱动容易和控制方便等特点，适用于微型拍翅式飞行机器人的拍翅系统。

Symmetry or antisymmetry constraint generations are based upon the valid degrees of freedom in the model, i.e., the degrees of freedom associated with the elements attached to the nodes.

对称或非对称约束生成法是基于模型的有效自由度之下的。也就是关于单元的自由度与节点相关联。

Cynanchum Lingtai apricot production in the average weight 65 grams, the brightly-colored fruit, juicy rich, sweet-sour taste, sweet from the nucleolus, when the late Qing Dynasty famous Shaanxi, Gansu provinces, the Qing imperial court Tongzhi tribute for years.

灵台生产的牛心杏平均单果重65克，果实色泽鲜艳，汁多味浓，甜酸适口，离核仁甜，清末时就驰名陕、甘两省，清同治年间曾为朝廷贡品。

Chenopodium album,Solanum nigrum, and Amaranthus retroflexus were very susceptible to the herbicides. Polygonum persicaria and Abutilon theophrasti were relatively less susceptible to the herbicides, and Lycopersicon esculentum was not susceptible to it. The relationship between reduction rates of weed biomass and PPM values of weed leaves 2,4, and 6 days after treatment was established.

供试的6种杂草对该混剂的敏感性存在显著差异：红心藜Chenopodium album、龙葵Solanum nigrum和反枝苋Amaranthus retroflexus对该混剂最敏感，ED90值分别为47.65、71.67和29.17g/hm2；春蓼Polygonum persicaria和苘麻Abutilon theophrasti敏感，ED90值分别为96.91、114.20g/hm2；而番茄不敏感。