在黎曼位形空间中研究了约束多体系统的动力学问题。
The dynamic problem of constrained multibody systems in Riemannian configuration space is researched.
波函数的模平方正比于体系处在其位形空间各个点的几率密度。
The square modulus of the wave function is proportional to the probability density of finding the system at each point in the configuration space.
基于位形空间的拓扑几何性质提出一种坐标无关的几何分类方法。
Based on the topological and geometric properties of configuration Spaces, this dissertation proposes a fine classification of singularities of parallel robots, which is coordinate-independent.
研究了并联机器人的参数优化设计问题。分析了机构参数与位形空间拓扑性态之间的关系。
Based on the relations between parameters of mechanisms and topology of configuration space, the singularity-free parameters design problem of a general parallel robot is studied.
基于在位形空间中受约束系统的几何性质，对机器人系统的运动及所受的约束力进行研究。
Based on the geometrical properties of the constrained system in configuration space, the motion and the constraining forces of robot system are studied.
导出了在位形空间中，求解对应无阻尼问题有等导重特征值的弱阻尼陀螺特征值问题的直接摄动法。
The solution of eigenproblem of slightly damped gyro-systems by the direct perturbation method in configuration space;
结合李群李代数方法，系统地研究了多特征的位形空间理论，给出了定向公差约束子流形的局部参数显式表达。
A systematic introduction to the theory of configuration space of multi-features is given, appealing to Lie groups and algebras.
丰富而复杂的奇异位形是并联机构的一个重要特点，位形空间中的奇异位形对并联机构的精度、刚度以及运动性能有着重要的影响。
There are abundant and complicated singularities in parallel mechanisms, which have great effects on the accuracy, stiffness and motion ability of parallel mechanisms.
丰富而复杂的奇异位形是并联机构的一个重要特点，位形空间中的奇异位形对并联机构的精度、刚度以及运动性能有着重要的影响。
There are abundant and complicated singularities in parallel mechanisms, which have great effects on the accuracy, stiffness and motion ability of parallel mechanisms.
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