| 1. | Modeling of dense particle - gas two - phase reacting flow in lagrangian approach
稠密气固两相反应流的拉格朗日法 |
| 2. | Direct numerical simulation is used for solving the navier - stokes equation and lagrangian approach is used to track the bubble trajectories through the action of forces imposed by the fluid and the gravity
采用直接数值模拟方法模拟流体流动，并用拉格朗日法跟踪气泡受流体和重力作用所产生的运动轨迹。 |
| 3. | Firstly , dynamic model is established and dynamic equations are derived by using assumed modes method and lagrangian approach . the solution methods of both forward and inverse dynamics are discussed
首先，采用假设模态法和lagrange方程建立了单柔性机器人的动力学模型，并推导出了动力学方程，给出了其正、逆动力学问题的解法。 |
| 4. | In this paper the model of flexible manipulator is firstly studied . to design and analyze the system easily , reasonable assumption and approximation on the model are used . the closed dynamic equation is derived using lagrangian approach
为便于系统分析与设计，对模型进行了合理假设和近似处理，进而利用拉格朗日方法推导出了柔性臂系统动力学方程的封闭形式。 |
| 5. | To grasp dynamic character of the 2rrr parallel platform and to exert the advantage of parallel machine in sculptor well , dynamics model of the platform is founded by using lagrangian approach and dynamic analysis are made primarily
) rr型并联平台的动态特性、使并联机器的优点得以在雕刻机中充分发挥，本文还应用拉格朗日方法建立了机构的动力学模型，并进行了初步的动力学分析。 |
| 6. | After a thorough analysis of the properties of flow field , following the thinking of simulating gas phase flow by les and simulating particles " motion in lagrangian approach , a two - dimensional mathematical model of gas - particle two phase turbulence was founded
在对流场特性进行全面分析的基础上，根据对气相流场采用大涡模拟，对颗粒相运动采用lagrangian方法进行求解的思路，建立了二维气粒两相湍流流动数值模拟的数学模型。 |
| 7. | Finite element method and the lagrangian approach were used to derive the dynamic model in most of these studies . however , this model has some drawbacks such as the large equation , slow solution rate , etc . it is difficult to apply this model in practical industry control
但是这些研究一般都采用有限元法和lagrange方程来建立机器人系统的动力学模型，其方程数目多、维数高，求解速度慢，很难应用到实际的工业控制中，本文则在这一问题上做一定的尝试。 |
| 8. | In this thesis , the dynamic models of flexible manipulator and the coordination of flexible robots are established using assumed modes method and lagrangian approach . the cooperation of flexible arms manipulating a rigid load is studied in the dynamic modeling
本文采用假设模态法和lagrange方程建立了柔性臂机器人及其协调操作系统的动力学模型，并以柔性机器人协调操作系统为重点研究对象，对柔性机器人协调操作刚性负载的动力学建模进行了系统深入的研究。 |
| 9. | Large eddy simulation of gas - particle two phase turbulence was carried out , such as simulation of two - dimensional gas - particle two phase wake , two - dimensional gas - particle two phase jet and three - dimensional gas - particle two phase rectangular jet . in these works , les was adopted to simulate gas phase flow and lagrangian approach was utilized to simulate the particles " motion . a series of significant and interesting results were obtained
文中对二维气粒两相平面尾迹流场、二维气粒两相平面射流流场以及三维气粒两相矩形射流流场中的气相流场进行了大涡模拟、对颗粒运动扩散采用lagrangian模拟研究后，取得了一系列具有重要的理论意义和实际意义的研究成果。 |
| 10. | Based upon virtual displacement method and the updated - lagrangian approach , stiffness matrices for two - dimensional elastic - plastic beam model in large displacement were proposed , in the derivation of which transverse stress was included because it was believed that part of the 2nd order effects of various stresses , which are in equilibrium with each other and with the external loads , will counteract each other and neglecting either part would possibly lead to incorrect results
利用虚位移原理和更新的拉格朗日方法，导出了大位移弹塑性梁单元刚度矩阵的显式表达式，在刚度矩阵推导中引入了截面内非线性剪应力和横向应力的影响，刚度矩阵通过了刚体检验。之所以要引入横向应力的影响，是因为本文认为，保持平衡所需的所有应力，它们各自的二阶效应会相互抵消，因此忽略其中的任何一项都可能导致不正确的结果。 |
