接触力

主手的位置控制采用传统的PD控制，指尖接触力控制采用非线性的PI控制。

Traditional PD control is adopted to achieve position control and contact force control of finger is completed by using Non-linear PI control .

导电架触端高度与接触力的模拟结果用计算机程序FAST（Fahrleitung-Stromabnehmer）在时速直至360km/h的情况下得到。

Simulation results of a pantograph shoe height and the contact force are produced with the computer program FAST ( Fahrleitung-Stromabnehmer ) for velocities up to 360 Km / h.

一类Power抓持接触力分解的一般表达式

The general formula of contact force distribution for a type of power grasps

用DEM软球模型研究颗粒间的接触力

Studying of contact forces among particles with the DEM model

在ADAMS中完成了灵巧手的抓取仿真，得到了灵巧手稳定抓取时的接触力曲线。

Completed the dexterous hand grasp simulation in ADAMS , obtained the contact force curve when stability grasp .

在ADAMS中，添加系统约束、载荷、驱动以及接触力，建立了虚拟样机模型。

A virtual prototype model is built after system constraints , load , drive and the contact forces are added in ADAMS .

在2700N轴向压缩载荷条件下，分别对各有限元模型的峡部、小关节应力、小关节接触力以及椎间盘负载进行测试。

The isthmic stress , facet contact force and load transmission through disc were investigated under axial compression 2700N .

采用罚函数法计算接触力，推导了Mindlin轴对称壳单元和实体单元两种不同单元类型之间接触摩擦的有限元列式。

The penalty function method is used to evaluate the contact force and a finite element formulation and solution algorithm are developed to solve the contact problem between two different type element : Mindlin axisymmetric shell element and solid element .

利用有限差分法和Newton迭代法，计算了斜直井段管柱螺旋屈曲临界力、沿螺旋段分布的管柱与井壁接触力以及后屈曲平均侧向接触力。

The critical load of the pipe helical buckling , contact force distribution of pipe on the bore hole and the average side contact force of the pipe post buckling in the horizontal section of horizontal well are calculated by using the finite difference method and the Newton iteration method .

接触力与非接触力的区别并不是根本的区别。

The distinction between contact and noncontact forces is not fundamental .

实验表明应力链是接触力传递的主要模式。

The visualized contacted force chains which show large fluctuations are analyzed quantificationally .

非连续变形计算力学模型中的接触力元

Contact Force Element of Discontinuous Deformation Computational Mechanics Model

弓网动态接触力在线检测系统

The On-Line Measuring System for Catenary-Pantograph Contact Force

机械手手指接触力分析

Analysis on Contact Forces of the Mechanical Hand

通过建立超声波马达的接触力模型，分析了定转子之间的驱动力。

Analyzed the drive power according to build up the motor power contact model .

谐波驱动柔性关节机械臂接触力的动态特性

The Dynamic Characteristics of Contact Force for the Flexible Joint Manipulator of Harmonic Drives

夹具中接触力的计算

On computing of contact forces in fixtures

随着沉没度的降低，杆柱最大侧向变形增大，接触力也变大。

Along with reducing sinking speed , the biggest lateral distortion and contact force increasing gradually .

弹簧、比例阀构成的力补偿系统保证了磨削过程中接触力的稳定。

Force compensation system comprised of springs and a proportional valve makes the contact force stable in grinding process .

在接触力空间定义了约束力集、严格约束力集及法向力集，分析了三者之间的关系。

Constrained force set , strictly constrained force set and normal force set are proposed and their relationships are detailed .

根据反馈的接触力信息，通过模糊推理确定参考比例因子的大小，从而使生成的参考轨迹适应未知环境刚度的变化。

The reference scaling factor is determined by fuzzy reasoning in accordance to the information feedback on forces in contact .

随着转速的降低，杆柱的最大侧向位移逐渐减小，接触力也逐渐减小。

Along with reducing rotating speed , the biggest lateral displacement of the sucker rod and the contact force diminishing gradually ;

本文提出了应用基于动接触力方法的显式有限元技术进行拱坝坝肩抗震稳定分析的新思路，给出了相关公式。

Based on dynamic contact force and FEM a new method for analyzing the stability of arch dam abutment is proposed .

通过测试昆虫在各类不同表面爬行过程中的脚掌与表面接触力，可以更深入的了解昆虫爬行过程中的吸附机制和运动规律。

By measuring the target surface-foot reaction forces generated by insects on various surfaces , we can understand adhesion mechanism and locomotion .

发展了称为时事分级识别的新计数法，用于铁路轮轨接触力的循环计数。

A so-called concurrent grading and identifying method is presented for counting the random cyclic contacting forces between railway wheels and tracks .

从而可简化接触力优化计算，确保优化接触力可由关节力矩提供。

This explicit function can be used to simplify the computation of contact forces in optimization and to ensure the optimal contact force is controllable .

通过编写接触力计算子程序实现了轮齿啮合力的计算，结合脚本控制语句实现了变速换挡过程的仿真。

The meshing force of the gearbox was computed by writing the sub-routing of contact force and the shifting process was realized through script control .

系统中各个质点的相对位移的叠加对外等效为物体表面变形，与之相连的弹簧弹性力的合力等于物体表面的接触力。

The sum of spring forces is corresponded with external force , and the sum of displacement of each node equal to the total deformation .

并对三指手爪拧螺母时的动作及接触力进行分析，为手指的力控制提供了理论依据。

The action and contact forces of the three fingers are analysed during screwing , providing reason for the forces control of the dexterous hand .

它在离线阶段精心选择外力旋量的生成集和计算相应最优接触力的生成集。

It elaborately selects the spanning set for the external wrench and computes a corresponding spanning set for the optimal contact forces in the offline phase .