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【正文】 he fourier transform on the eucidean group. Journal of Mechanical Design, 1999, 1(21): 9~1411. Kyatkin A B., Chirijian G S. Computation of robot configuration and workspaces via the fourier transform on the discretemotion group. The International Journal of Robotics Research. 1999, 18(6):601~61512. Suthakorn J, Chirikjian G S. A new inverse kinematics algorithm for binary manipulators with many actuators. Adv. Robot., 2001, 15(2): 225~24413. Wang Y F., Chirikjian G S. The parison of two workspace densitydriven inverse kiematics methods for hyperredundant manipulators, In: Proc. ASME Des. Eng. Tech. Conf., Montreal, Canada, 2002: 563~568.14. Wang Y F., Chirikjian G S. Workspace generation of hyperredundant manipulators as a diffusion process on SE(N). IEEE Trans. Robot. Autom., 2004, 20(3): 399~40815. Lichter M D., Sujan VA., Dubowsky S. Experimental demonstrations of a new design paradigm in space robotics. In: Proceedings of the Seventh International Symposium on Experimental Robotics, 2000: 219~22816. Sujan V A., Lichter M, Dubowsky S. Lightweight hyperredundant binary elements for planetary exploration robots. In: Proceedings of the 2001 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, Italy, 2001: 1273~127817. Wingert A., Lichter M., Dubowsky S., and Hafez, M. HyperRedundant Robot Manipulators Actuated by Optimized Binary Dielectric Polymers. Proceedings of the SPIE Smart Structures and Materials Symposium 2002, San Diego, CA, Vol. 4695, March 2002.18. Wingert A., Lichter M., Dubowsky S. On the kinematics of parallel mechanisms with bistable polymer actuators. In: Proceedings of the 8th International Symposium on Advances in Robot Kinematics, Barcelona, Spain, 2002: 303~310 19. Hafez M., Lichter M D., Dubowsky S. Optimized binary modular reconfigurable robotic devices. IEEE/ASME Transactions on Mechatronics, 2003, 8(1): 182520. Sujan VA., Dubowsky S. Design of a lightweight hyperredundant deployable binary manipulator. ASME Journal of Mechanical Design, 2004, 126(1): 29~39 21. Zanganeh K R., Angeles J. The inverse kinematics of hyperredundant manipulators using splines. In: Proc. IEEE Int. Conf. Robot. Autom., 1995: 2797~280222. Kim Y Y., Jang G W., Nam S J. Inverse kinematics of binary manipulators by using the continuousvariablebased optimization method. IEEE Transactions on Robotics, 2006, 22(1): 33~4223. 王建濱,馬培蓀,徐軍,郝穎明. 一種離散驅(qū)動蛇形柔性臂的工作空間及優(yōu)化設(shè)計研究. 機(jī)械設(shè)計與研究. 2002,18(5):16~1824. Huang Z., Q C Li. General methodology for type synthesis of lowermobility symmetrical parallel manipulators and several novel manipulators. International Journal of Robotics Research. 2002, 21(2): 131~14525. Q Jin., T L Yang. Theory for topology synthesis of parallel manipulators and its application to threedimensiontranslation parallel manipulators. ASME J. of Mechanical Design, 2004, 126(1): 625~63926. F Gao., Y Zhang., W M Li. Type synthesis of 3dof reducible translational mechanisms. Robotica, 2005, 23(2): 23924527. Y F Fang., L W Tsai. Structure synthesis of a class of 3DOF rotational parallel manipulators. IEEE Trans. on Robotics and Automation,2004, 20(1): 117~12128. C Han, J Kim, J Kim, F C Park.. Kinematic sensitivity analysis of the 3UPU parallel mechanism. Mechanism and Machine Theory, 2002, 37: 787~79829. G Lebert, K Liu, F L Lewis. Dynamic analysis and control of a Stewart
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