一种新型四自由度并联机器人运动学正问题的求解

对一种新型四自由度并联机器人运动学正问题进行了研究，利用３个变量构造 出求解正问题的３个约束方程，然后运用符号计算和析配消元法推导出了只含有一 个变元的３２次多项式方程，并且应用计算机软件系统Ｍａｔｈｅｍａｔｉｃａ进行了求正问 题实解的数值验证。

混凝土泵车浇筑过程机器人化探讨

对混凝土泵车布料机构的运动姿态调整采取了最优控制 ,解决了泵车机器人化的运动分析的臂解问题 ,论述了泵车动态分析中应解决和注意的问题 ,给出了泵车控制自动化的程序流程图和控制系统图 ,从而为提高泵车施工过程的自动化和泵车的机器人化提出了新的思路

两轮驱动自动引导车辆定位停车研究

建立了两轮独立驱动自动引导车辆的运动学模型，计算了两轮以不同速度行驶时的运动轨迹。基于所建的运动学模型，提出了两轮驱动自动引导车的定位控制策略。通过试验证实，这种定位控制策略具有很快的停车速度和较高的定位精度。

一种并联机床运动平台位姿测量方法

提出一种采用附加测量机构直接测量并联机床运动平台位姿精度的方法。其基本思想是根据运动平台的运动特性在固定平台和运动平台之间增设附加测量机构，当运动平台运动时带动测量机构运动，通过安装在测量机构上的传感器测得广义坐标参量， 经运动学建模即可得到运动平台的位姿。当测量机构位姿正解求解速度满足实时控制要求时，利用该反馈信息对机床进行实时精度补偿和控制。基于上述思想建立的并联机床位姿测量系统可部分排除机床切削力变形和运动副间隙等误差， 从而提高机床的位姿测量精度。以一种五坐标并联机床为例，介绍采用附加测量机构直接测量运动平台位姿精度的建模方法。其中， 测量机构的综合十分重要。测量机构的组成决定了运动学模型的复杂程度， 即决定了运动学模型的计算效率。

一种三自由度并联机器人机构运动学计算

出一种新型的三杆三自由度并联机器人机构，并推导了其运动学正反计算式，给出运动空间和根据作业空间设计结构参数的计算式。

机器人化三腿磨削机床的研制

以钢坯修磨为实用目的研制的一台机器人化三腿机床，具有刚度大、负载能力强、机构简单、工作空间大、无运动耦合及奇异位形等优点，首次解决了钢坯局部修磨自动化问题，配以其它加工执行器还可实现多种工艺要求。建立了该机床的运动学逆、正解方程，对其工作空间和受力分析进行了介绍，并介绍了局部修磨自动化控制系统

并联机器人机床运动学正、逆解

基于一般ＳＴＥＷＡＲＴ机构研制的并联机器人机床是新一代智能化金属切削加工机床．然而，机床的运动学位置正、逆解呈强非线性，求解困难．出于机床精度的需要，本研究的模型样机在结构上采用了滚珠丝杠传动，因此又带来了关节运动耦合，导致机床运动学位置正、逆解求解更加复杂．利用运动学等效的原则，引入整机等效串联机构及分支等效串联机构，以等效广义坐标为中间变量建立机床运动学正、逆解求解迭代算法．仿真与控制实验表明，该算法具有收索速度快便于实际应用等特点。

基于运动耦合结构的并联机器人的运动学正逆解

根据运动学等效的原则，在并联机器人中引入等效串联机器人及分支等效串联机器人，以等效广义坐标为中间变量建立并联机器人运动学正道解求解算法。该算法能有效处理结构带来的运动耦合，并且规划的软件具有自动生成迭代初始点、避免多解性以及便于实际应用等特点，从而为并联机器人的结构设计与创新提供了理论支持。

一种并联激光焊接机器人的机构设计与运动学分析

提出了一种3分支5自由度的并联激光焊接机器人,通过3个分支共同作用,使整机具备了5个自由度的空间加工能力.针对激光焊接,通过分析该机器人的结构特性,建立了其正反解运动学模型,通过解析法求解该模型并进行了计算仿真.最后,对机器人进行激光拼焊实验,仿真数据和实验结果表明,本文研究的并联机器人机构适用于实际的高速、高精度激光焊接。

一种新型并联机器人工作空间分析

对一种新型并联机器人的工作空间问题作了讨论,基于运动学逆解,通过极限边界数值搜索算法求取了并联机器人工作空间,并通过MATLAB仿真得到了该并联机器人工作空间的实体模型。

一种四自由度并联机构的标定技术

运动学标定就是对实际几何参数的估计过程,通过标定来减少动平台的位姿误差。本文对并联机构的标定技术进行了介绍,并对一种四自由度并联机构的标定过程以两种标定方法进行了说明,给出了仿真结果。

一种四自由度并联机构的误差分析及其标定补偿

针对一种四自由度并联机构进行了运动学分析 ,在此基础上以摄动法建立了其误差模型 ,明确了各误差源对末端位姿的影响 .在对并联机构的标定技术进行简单介绍后 ,说明了对该机构误差模型中的机构参数进行标定的两种方法 ,介绍了标定装置、标定算法及标定过程 .最后采用Matlab对基于逆解的标定方法进行了仿真 ,并对仿真结果进行了分析 .

新第三纪红河盆地特征及红河断裂活动对其形成与发育的控制

Based on geodynamic analysis of sedimentary basins, combined sedimentology with structural geology and other methods, the author studied the Honghe basin located in Yunnan province of Southwestern China. Sandstone slice grain size analysis, combined with field geology and indoors study indicate that a set of inland alluvial fan diposits, fluvial deposites, delta deposits and some lacustrine sediments are in Honghe basin. Studying on shape of the Honghe basin, sedimentary and structural characteristic and distribution of different kinds of conglomerate and its structural significance, we hold the idea that the formation and evolution of Honghe basin are controlled by the activity of Red River faut. Correlation of lithostratic cross section in Honghe basin and studying on activity of Red River fault indicate that Honghe basin was formed in two stages. It is a complex basin constitutes of the first-stage trans-releasing basin and the second-stage trans-downfaulted basin. Due to the uplift of Qinghai-Xizang plateau and deformation of orogeny, the western Yunnan and adjacent area move to SE direction as a result of Tectonic Escape. Right lateral strike slip occurred along Red River fault, trans-releasing basin formed at the bend part of the fault due to stress relexation. As the block escaping, it moves away from the other block of the Red River fault, the upper block move down obliquely and trans-downfaulted basin formed. Combined the age of phytolite and regional structural events, we think the first-stage transreleasing basin was formed in late Miocene, on the other words, the dextral strike slip of Red River fault may began in late Miocene (10-7Ma). The second-stage trans-downfaulted basin may be formed in early stage of Pliocene (about 4.7Ma). Subsequently, the bilateral faults dipping to the inside of the plateau and thrusting outwards occurred in the marginal region of Qinghai-Xizang plateau during its uplifting as a fan-shaped mountain body, this results in the uplift of the strata to the east of Red River fault and supply large quantity of provenance for the Honghe basin. In last Pliocene (about 3Ma), strong uplift of Qinghai-Xizang plateau leads to massive clastic sediment entered Honghe basin and causes its closure. As a kind of trans-tentional basin, trans-releasing basin is different to pull-apart basin. The author compared the Mosha trans-releasing basin with Jinggu pull-apart basin in SW Yunan, China, and described their character correspondingly. Otherwise, the author combined the predecessors' studding with conclusion of own study, discussed the kinematics of Ailaoshan-Red River belt in Cenozoic, and the relationship between the formation of Honghe basin and uplifting of Qinghai-Xizang plateau.

藏东南迦巴瓦变质岩楔入体东边界阿尼桥断裂带构造变形性质、年代学与构造意义

The Namche Barwa metamorphic rock indenter is a part of the Indian plate. The Aniqiao fault, a northeastern striking shear zone, is the eastern boundary of the Namche Barwa metamorphic rock indenter. The activities of the Aniqiao fualt reflects the history of structure deformation and uplift of the Namche Barwa metamorphic rock indenter. In this dissertation, studied the history of activities of the Aniqiao fault, I study the deformation of the Namche Barwa metamorphic rock indenter based on which, I try to discuss the history of action and deformation of the eastern Tibet. The Aniqiao fault composes of mica quartz schist. With observing in the field and by the microscope, there are at least two stages of deformation. The earlier is right lateral striking, the later is normal striking. The biotite, in the hornblende biotitic mylonite in western footwall, the muscovite and sericite, in the mica quartz schist in eastern hangingwall, show 4 plateau and isochron ages: 3.7-3.3Ma, 6.8-6.4Ma, 13.4-13.2Ma, 23.9Ma, by ~(40)Ar/~(39)Ar. Combine the characteristics of kinematics with the characteristics of isotopic ages, this dissertation figured three stages of deformation: in 23.9Ma and 13.4-13.2 Ma, the Aniqiao fault undertook twice strike-slip deformation; in 6.8Ma-6.4Ma, the Aniqiao fault occurred normal strike deformation; in 3.7-3.3Ma, there was another thermal case which maybe relating to uplift. Combine the deformation of the Aniqiao fault and the deformation of the western boundary fault of the Namche Barwa metamorphic rock indenter, this dissertation considers that the Namche Barwa metamorphic rock indenter has occurred three defomational cases during the period of Oligocene and Quaternary: in 23Ma and 13Ma, the Namche Barwa metamorphic rock indenter wedged into the Gangdisi granite zone; from 6-7Ma, the Namche Barwa metamorphic rock indenter begins to uplift. From 6-7Ma, the Namche Barwa metamorphic rock indenter must has been occurred multi-stage uplifting. The indentation of the Namche Barwa metamorphic rock indenter is correspond to the structure escape of the Chuanxi, Dianxi blocks. In the surface deformation, the movement of these blocks are very harmonious.

青藏高原壳幔形变与层圈耦合数值模拟

Based on multi-principle (such as structures, tectonics and kinematics) exploratory data and related results of continental dynamics in the Tibetan plateau, the author reconstructed the geological-geophysical model of lithospherical structure and tectonic deformation, and the kinetics boundary conditions for the model. Then, the author used the numerical scheme of Fast Lagrangian Analysis of Continua (FLAC), to stimulate the possible process of the stress field and deformational field in the Tibetan plateau and its adjacent area, since the convergence-collision between the Indian continent and Eurasia continent about 50Ma ago. With the above-mentioned results, the author discussed the relationship between crustal movement in shallow layer and the deformational process in interior layers, and its possible dynamic constraints in deep. At the end of the paper, an integrative model has been put forward to explain the outline images of crust-mantle deformation and coupling in the Tibetan Plateau. (1) The characteristics of crust-mantle structure of the Tibetan plateau have been shown to be very complex, and vertical and horizontal difference is significant. The general characteristics of crust-mantle of the Tibetan plateau may be that it's layering in depth direction, and shows blocking from south to north and belting from east to west, mainly according to the results of about 20 seismic sections, such as wide-angle seismic profiles, CMP, seismic tomography and so on. (2) The crust had shortened about 2200km, while the shortening is different for different block from south to north in the Tibetan plateau. It is about 11.5mm/a in Himalayan block, about 9.0mm/a in Lhas-Gangdese block, about 7.0mm/a in Qiangtang block and Songpan-Ganzi-Kekexili block, about 8.0mm/a in Kunlun-Qaidam, and about ll.Omm/a in Qilian block, since the convergence-collision between the Indian continent and Eurasia continent about 50Ma ago. Which - in demonstrates the shortening rate decreases from south to north, but this rate increases near the north edge of the Tibetan plateau. The crust thickening rate is about 0.4mm/a in the whole Tibetan plateau; and this rate is about 0.5mm/a in Himalayan block, about 0.4mm/a in Lhas-Gangdese block, about 0.3mm/a in Qiangtang block, about 0.2mm/a in Songpan-Ganzi-Kekexili block and about O.lmm/a in Kunlun-Qaidam-Qilian block, since the convergence-collision between the Indian continent and Eurasia continent about 50Ma ago. This implies that the thickening rate decreases in the blocks of the Tibetan plateau. From south to north, the displacement of eastern boundary in the Tibetan plateau is about 37mm/a in Himalayan block, about 45mm/a in Lhas-Gangdese block, about 47mm/a in Qiangtang block, about 43mm/a in Songpan-Ganzi-Kekexili block, and about 35mm/a in Kunlun-Qaidam-Qilian block, since the collision-matching between the Indian continent and Eurasia continent had happened about 50Ma ago. This implies that the rate of eastward displacement is biggest in the middle of plateau, and decreases to both sides. The transition of S-N compression stress field in Tibetan Plateau, since about 28Ma+ ago, may be caused by two reasons: On one hand, the movement direction of Eurasia continent changed from northward to southward about 28Ma± ago in the northern plateau. On the other hand, the front belt that is located between India continent's and Eurasia continent's convergence-collision, had moved southward to high Himalayan from Indus-Brahmaputra suture almost at the same time in southern plateau. Affected by the stress field, the earlier tectonics rotated clockwise, NE and NW conjugate strike-slip faults developed, and the SN rift formed. This indicated that the EW movement started. The ratio between upper crust and lower crust of different blocks from south to north in the Tibetan plateau during the process of deformation are as following: about 3.5~5:1 in Himalayan block, about 1~5: 3-4 (which is about 1:3o--4 in south and about 4~5:3 in north) in Lhas-Gangdese block, about 1:3~447mm/a in these blocks: Which is located to the north of Banggong-nujiang suture.