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【正文】 ng is addressed by applying surrogate models for the FE and the CAD models. The models are briefly presented below. High Level CAD Template— Geometry Model Traditionally, parametric CAD is mainly focused on morphological modifications of the geometry. However, there is a limit to morphological parameterization as follows: ?The geometries cannot be radically modified. ? Increased geometric plexity greatly increases parameterization plexity. The geometry model of the robot is generated with presaved HLCts, created in CATIA V5. These are topologically instantiated with unique internal design variables. Topological parameterization allows deletion, modification, and addition of geometricelements which leads to a much greater design space types of HLCts are used to define the industrial robot topologically。 Datum HLCt which includes wireframe references required for placement for the Actuator HLCTs and Structure HLCts, as seen . 內(nèi)蒙古工業(yè)大學(xué)本科畢業(yè)設(shè)計(jì)外文翻譯 3 Fig. 2 An industrial robot (left) and a modular industrial robot(right) The names of the references that must be provided for each HLCt instantiation are stored in the knowledge base (see Appendix ), which is searched through by the inference engine. In Appendix A, pseudocode examples describes how the references are retrieved and how they are stored in the knowledge base. The process starts by the user defining the number of degrees of freedom (DOF) of the robot (see Fig. 3) and is repeated until the number of axis (i) is equal to the user defined order to instantiate the first Structure HLCt, two Datum and two actuator instances are needed. References from the two Datum instances help orienting the structure in space, while the geometries of the actuator instances, at both ends of the link, are used to construct the actuator attachments, as seen in Figs. 2 and 3. For the remaining links, only one new instance of both datum and actuator HLCts are required, since the datum and actuator instances from adjacent links are already shows a pseudocode example of an instantiation function. The first instantiated datum HLCt is defined with reference to the absolute coordinate system. The remaining datum HLCt instances are placed in a sequential order, where the coordinate system of previous instances is used as reference for defining the position in space according to user inputs (see also ). Furthermore, the type of each actuator and structure instance is user defined. 內(nèi)蒙古工業(yè)大學(xué)本科畢業(yè)設(shè)計(jì)外文翻譯 4 Fig. 3 The high level CAD template instantiation process Since it is possible to create new HLCts in the utilized CAD tool, the users are no
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