这种算法使用旋量理论来描述机器人的运动。
This algorithm uses screw theory to describe the motion of the robot.
针对这种情况，提出了基于旋量理论的复杂曲面定位算法。
Furthermore, the present positioning scheme on the basis of screw theory only ADAPTS to simple surfaces.
提出了一种基于旋量理论以及图论的可重构机器的模块化设计方法。
Described a modular design procedure of reconfigurable machine, based on screw theory and graph theory.
利用旋量理论和指数积方法求解了6 -PRRS并联机构主动关节与被动关节的位置逆解。
Based on screw theory and exponential product method, the inverse kinematics of the passive and active joints of the 6-prrs parallel robot was resolved.
然后利用旋量理论推导了水轮机修复机器人六自由度手臂的动力学方程，并对此专用机器人动力学进行分析。
Then use screw theory build up dynamics equation of manipulator which belong to hydraulic turbine repair robot with six degree of freedom, and carry on theory analysis to the robot.
利用旋量理论建立机床基本功能模块的运动学表达式，并在此基础上完成机床机械系统的运动功能模块建模；
We use the screw theory to establish the basic functions of machine kinematics model. And on this basis, completing the motion module modeling of machine mechanical system.
结合旋量理论与递推算子可以直接得到易于计算机编程实现的广义雅可比矩阵。整个计算过程简单、效率高。
Then it can avoid the analysis of the coupling between base and manipulator, so the Jacobian matrix can be achieved simple and efficiency.
通过几个实例对此原因进行了比较深入的剖析，在此基础上，提出了一种基于旋量理论的消极运动副的判定方法，该方法无需计算运动螺旋的具体数值。
This reason was analyzed through several examples. An identification method of inactive joints based on screw theory was given. It is unnecessary to calculate Jacobian matrixes in this method.
结合动量理论和涡流理论，推导了桨叶环量方程，用广义尾流模型计算了旋翼下洗流场。
Combining momentum theory and vortex theory, rotor circulation equation was deduced. The rotor down-wash flow field was calculated using generalized down-wash flow model.
本文从旋翼的广义经典涡流理论出发，通过环量对诱导速度的贡献的简化处理，推导出旋翼诱导速度的二阶分布。
In this paper, firstly, relations of first two harmonic induced velocities to the lower and same-order harmonic circulations are obtained from the generalized classical vortex theory of the rotor.
本文从旋翼的广义经典涡流理论出发，通过环量对诱导速度的贡献的简化处理，推导出旋翼诱导速度的二阶分布。
In this paper, firstly, relations of first two harmonic induced velocities to the lower and same-order harmonic circulations are obtained from the generalized classical vortex theory of the rotor.
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