并对匀速与余弦运动规律的空间凸轮的接触线与接触区进行了分析。
The profile equations of a space cam are described in accordane with given kinematic characteristics.
采用D-H后置法建立了4R机器人运动方程，建立机器人执行机构在空间相对位置关系的数学模型，由此可解出手部位置和用单位矢量方向余弦表示的姿态。
A kinematics model by post D-H method for 4R-robot was offered in this paper, which derived the manipulator finger position and its attitude with unit vectors of direction cosine.
通过对余弦鼓形凸轮运动特征的分析，介绍了在普通卧式铣床上利用分度头和回转工作台拼装的铣余弦鼓形凸轮形面的工装，实践证明，可保证较好的加工质量。
Based on the analysis of the rotation of cosine drum cam, this paper introduces a special de- vice to mill this type of cam on the ordinary horizontal milling machine.
然后，提出了一种新的支撑区域选取方法，采用了按余弦规律变化的ZMP运动轨迹；
Second, the author introduced a new stability region, and programmed a trajectory of variable ZMP, which was defined as a cosine curve;
然后，提出了一种新的支撑区域选取方法，采用了按余弦规律变化的ZMP运动轨迹；
Second, the author introduced a new stability region, and programmed a trajectory of variable ZMP, which was defined as a cosine curve;
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