Secondly, based on the further research of the kinematics of five DOF manipulator, kinematics model is made with the method of D-H, joint velocity and Jacobian matrix are also carried out.
其次，在深入研究五自由度机械手的运动学问题的基础上，用D-H法建立了五自由度机械手运动学模型并分析了机械手的关节速度与雅可比矩阵；
The 3-d simulated spray environment was created in CFD, to research the characteristics of droplet deposition based on particle-tracking technology of the discrete phase model.
在CFD中建立三维模拟喷雾环境，采用离散相模型粒子跟踪技术，研究雾滴沉积特性。
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