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多杆空间柔性机器人递推Lagrange动力学建模和仿真 总被引:3,自引:1,他引:2
研究了多杆空间柔性机器人的动力学问题.运用Lagrange方法,结合齐次变换矩阵,推导得到了多杆空间柔性机器人动力学方程,在推导过程中采用了运动学递推策略以提高计算效率.建模时除考虑柔性构件的横向弯曲变形外,还计及了构件的扭转变形.基于上述理论研制了多杆空间柔性机器人动力学仿真软件,并对一空间柔性机器人进行了动力学仿真计算,验证了理论和软件的先进性能. 相似文献
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介绍了进化动力学的基本知识和研究现状,把表型特征引入种群动力学模型,进而推导出进化适应动力学模型;总结了如何建立适应度函数以及分析研究进化动力学行为的一般理论和方法,并列举实例,模拟分析验证前面所陈述的理论方法,模拟结果说明收获对生物进化产生重要影响,并有效解释了物种多样性。 相似文献
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本文是对硅的热氧化动力学理论的发展。现有的硅热氧化动力学理论不能同时描述任意厚度氧化层的生长规律、外加电场对氧化速率的影响和氧化速率与氧分压的依赖关系。本文在考虑氧化层中空间电荷的影响以及离化氧分子O2~-和离化氧原子O~-同时参与与Si—Si键反应的基础上,提出了一个更为普遍的氧化动力学模型,它可克服现有理论的不足。文中给出了理论与实验结果的比较,并讨论了本动力学模型与其它动力学模型的关系。 相似文献
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建立计算机病毒的动力学数学模型,可以更好地揭示计算机病毒流行的原因.考虑到免疫策略对计算机病毒动力学模型的重要影响,对一类SEIR模型进行了改进.得到了模型的无感染平衡点和感染平衡点的存在性,并分别求得两类平衡点的渐近稳定条件,通过数值模拟展示了理论成果. 相似文献
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运用非线性动力学理论,对一类四维混沌Lorenz系统在平衡点的稳定性问题和Hopf分岔的存在性进行了研究.利用第一Lyapunov系数法给出系统Hopf分岔周期解的稳定性条件.最后,通过数值仿真验证了理论推导的正确性. 相似文献
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随着微机电科技的进步,利用环境振动进行系统自供电已经成为目前非线性动力学研究的热点.以附加线性振子的双稳态电磁式振动能量捕获器为研究对象,建立系统的动力学方程,通过数值仿真研究了有色噪声激励作用下双稳态能量捕获系统的动力学行为,分别从有色噪声强度、质量比和调频比3个方面研究了双稳态系统动力学响应,获得了上述参数对双稳态能量捕获系统动力学特性的影响规律,上述研究结果为双稳态电磁式振动能量捕获系统的相关研究提供理论基础. 相似文献
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《应用数学和力学》2018,(11)
为给复杂机械多体系统碰撞动力学问题的定量和定性分析提供一个强有力新工具,该文将现代分析力学中的对称性理论引入到机械多体外碰撞动力学研究中.首先,基于冲量动量法推导系统碰撞动力学的Euler-Lagrange方程;其次,引进群分析理论,根据不变性原则给出系统存在Noether对称性与Lie对称性的各自条件方程以及得到相应守恒量的形式,为动力学方程的解析积分理论提供了有效途径.最后以一平面开环两连杆机构的碰撞力学为例进行实际分析运用.研究表明,借助对称性和守恒量可以得到机械多体系统动力学更深层次的力学规律和运动特性,可为系统更精确的动态优化设计和先进控制奠定理论基础. 相似文献
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T. Kurisu 《Journal of Optimization Theory and Applications》1983,40(2):175-199
This paper deals with the noisy-silent versus silent-noisy duel with equal accuracy functions. Each of player I and player II has a gun with two bullets and he can fire his bullets at any time in [0, 1] aiming at his opponent. The first bullet of player I and the second bullet of player II are noisy, and the second bullet of player I and the first bullet of player II are silent. It is assumed that both players have equal accuracy functions. If player I hits player II, not being hit himself before, the payoff of the duel is +1; if player I is hit by player II, not hitting player II before, the payoff is ?1. The value of the game and the optimal strategies are obtained. We find that the firing time of the silent bullet by player II's optimal strategy depends directly on the firing time of player I's noisy bullet. 相似文献
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Marco A. Farinati Andrea L. Solotar 《Proceedings of the American Mathematical Society》2004,132(10):2859-2865
We prove that is a Gerstenhaber algebra, where is a Hopf algebra. In case is the Drinfeld double of a finite-dimensional Hopf algebra , our results imply the existence of a Gerstenhaber bracket on . This fact was conjectured by R. Taillefer. The method consists of identifying as a Gerstenhaber subalgebra of (the Hochschild cohomology of ).
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针对2009年全国研究生数学建模竞赛B题,以自动比对方法的智能性,自动性和可操作性为出发点,以构建子弹头特征峰数据库,搭建子弹头自动比对系统为目标,对枪弹头痕迹的自动比对问题展开了研究.类比搜索引擎的关键词搜索技术建立了基于图形的特征峰搜索技术,实现了弹头痕迹的智能比对. 相似文献
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T. Kurisu 《Journal of Optimization Theory and Applications》1983,40(1):85-103
This paper deals with the noisy-silent-versus-silent duel with equal accuracy functions. Player I has a gun with two bullets and player II has a gun with one bullet. The first bullet of player I is noisy, the second bullet of player I is silent, and the bullet of player II is silent. Each player can fire their bullets at any time in [0, 1] aiming at his opponent. The accuracy function ist for both players. If player I hits player II, not being hit himself before, the payoff of the duel is +1; if player I is hit by player II, not hitting player II before, the payoff is –1. The optimal strategies and the value of the game are obtained. Although optimal strategies in past works concerning games of timing does not depend on the firing moments of the players, the optimal strategy obtained for player II depends explicitly on the firing moment of player I's noisy bullet. 相似文献
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Mathematische Zeitschrift - Let $$b_{\bullet }$$ be a sequence of integers $$1 < b_1 \le b_2 \le \cdots \le b_{n-1}$$ . Let $${\text {M}}_e(b_{\bullet })$$ be the space parameterizing... 相似文献
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The main purpose of this paper is to study the deformed Riemannian extension▽g +VG··in the cotangent bundle, where G is a twin Norden metric on the base manifold. 相似文献
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研究了枪弹头痕迹自动比对方法,用最优化的方法消除测量误差,通过中值滤波去除随机噪声,并根据数据的相似性度量理论确定了以横向相关性为基础的比对方案. 相似文献
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设$\mathcal{A}$, $\mathcal{B}$是两个因子且$\dim\mathcal{A}>4$.本文证明了双射$\phi:\mathcal{A}\rightarrow\mathcal{B}$ 满足对所有的$A,B,C\in\mathcal A$有$\phi([A,B]\bullet C)=[\phi(A),\phi(B)]\bullet\phi(C)$当且仅当$\phi$是线性*-同构, 共轭线性*- 同构,负的线性*-同构, 负的共轭线性*-同构. 相似文献
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Acoustic signals of small arms’ fire, the muzzle blast and the shock wave generated by a supersonic bullet in air are difficult to mask and can be exploited for localization of the hidden sniper. The problem is formulated for the curvilinear bullet path of unknown parameters (velocity and acceleration) in a system of nonlinear equations that can be solved numerically. A successful iterative solution is presented in a computed example based on technically feasible measurements of the shock wave arrival times at a system of nine omnidirectional microphones distributed in the protected area. 相似文献