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According to the definition of the new hypothetical states which have obvious physical sig-nificance and are termed as no-gravity static and accelerated states, a method for exact computa-tion of the parallel robot's generalized inertia matrix is presented. Based on the matrix theory, the generalized inertia matrix of the parallel robot can be computed on the assumption that the robot is in these new hypothetical states respectively. The approach is demonstrated by the Delta robot as an example. Based on the principle of the virtual work, the inverse dynamics model of the robot is formulized after the kinematics analysis. Finally, a numerical example is given and the element dis-tribution of the Delta robot's inertia matrix in the workspace is studied. The method has computational advantage of numerical accuracy for the Delta robot and can be parallelized easily. 相似文献
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杨志永 《河南科技学院学报》2014,(1):126-128
清末民初,我国近代公共图书馆事业起步,到抗战爆发前,发展了30多年。研究该段时期公共图书馆的发展状况,探讨公共图书馆事业从起步到发展的历史变迁,对于图书馆史和图书馆学具有十分重要的意义。文章基于民国时期教育部教育司和中华图书馆协会进行的两次图书馆调查,指出在抗战爆发前我国基本形成国家级公共图书馆、省级公共图书馆、市县（村）公共图书馆三级公共图书馆体系,并对其体系的职能分工及其开展的合作交流进行了探讨。 相似文献
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我国近代图书馆事业诞生于清末民初,之后经历了清末公共图书馆运动和民国政府时期的新图书馆运动。两次图书馆运动的发生、发展有着深刻的政治、经济和社会原因;其发生不仅是我国图书馆事业上光辉的一笔,也对我国社会、文化产生了深远的影响。笔者通过分析、比较两次图书馆运动的产生原因、社会背景、发展情况、影响等,探究了我国近代图书馆事业的变迁。 相似文献
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According to the definition of the new hypothetical states which have obvious physical significance and are termed as no-gravity static and accelerated states, a method for exact computation of the parallel robot＇s generalized inertia matrix is presented. Based on the matrix theory, the generalized inertia matrix of the parallel robot can be computed on the assumption that the robot is in these new hypothetical states respectively. The approach is demonstrated by the Delta robot as an example. Based on the principle of the virtual work, the inverse dynamics model of the robot is formulized after the kinematics analysis. Finally, a numerical example is given and the element distribution of the Delta robot＇s inertia matrix in the workspace is studied. The method has computationa＇, advantage of numerical accuracy for the Delta robot and can be parallelized easily. 相似文献
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创造能力要求学生做到在思考问题的时候突破常规,善于表达具有新颖独特的观点。新课程标准中对学生的创造能力的培养提出了新的要求。所以教师在课堂上要善于激发学生的学习热情,让学生自主思考。本文以高中地理教学为例,从培养创造能力的必要性入手,分析如何培养学生的创造能力,从而为高中地理教学提出一些意见和建议。 相似文献
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对于初中语文阅读教学而言,如何打破传统的教学模式,体现语文的人性与个性,是一个值得深究的问题。新的课程标准指出院“阅读是搜集处理信息、认识世界、发展思维、获得审美体验的重要途径。阅读教学是学生、教师、文本之间的对话过程。”这一新理念要求语文教师要重视学生在阅读过程中的主体地位,要重视学生阅读的独特感受和体验,教师绝不能取代学生在阅读中的地位。 相似文献
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城市大直径泥水盾构浅覆土下穿既有河流加固技术 总被引：1，自引：0，他引：1
通过对北京铁路地下直径线工程泥水盾构浅覆土下穿护城河段加固施工技术的介绍,总结了城市繁华地段下穿既有河流施工过程中,为减小盾构施工对地表河流、地下管线及隧道周边建构筑物影响所采取的加固措施,希望对类似工程有借鉴作用。 相似文献
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CNKI知识搜索检索技术及评价 总被引：1，自引：0，他引：1
文章分析了布尔逻辑检索、大小写敏感检索、截词检索、临近检索等基本的检索技术在CNKI知识搜索的全文检索系统中的应用情况，并以实例分析了CNKI的引证分析、读者推荐文章、相似文献等扩展功能。 相似文献
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The non-linear dynamic model is set up of one type of high-speed painting automizor with gas supporting system ,The stability of motion and dyamic response of the gas painting automizor system are studied over a relatively wide range of rotating speed by numerical analytic method ,the critical velocity under working condition is found,and rotate stability and critical condition are discussed in theory,Furthermore,the range of the critical parameter of the system when Hopf bifurcation occurs and the law between axis trace and bearing clearace are acquired ,too. 相似文献