本文对于卷取机采用最大力矩法的张力系统问题进行了讨论。
In this article, the subject about the winding machine tension system adopting the maximum moment method is studied.
进行可靠性计算，获得典型螺纹连接结构的力矩法控制预紧力的可靠度。
According to the calculation of reliability, we get the reliability of the typical screw joint structures the preload.
本文采用了三种方法：计算力矩法、鲁棒控制及变结构滑模控制，对6 - DOF串并联机器人进行了精确控制。
Three methods that are computed torque method, robust control and variable structure sliding mode control were used in the precise control of the series-parallel 6-dof robot.
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