| 1. | Reverse rotating torque of steering gear
转向器反驱动力矩 |
| 2. | The problem of deriving dynamic model was transformed into the problem of solving driving moment under specified conditions by kinematic and dynamic formulae
将动力学模型的推导问题转化为特定条件下运用运动学和动力学计算公式求解机构驱动力矩的问题。 |
| 3. | Corresponding software was developed which can be used for the research of the effects of generalized coordinates , link lengths and the inertia parameters of links on driving torques
研制的软件可以应用于研究广义坐标、杆长和构件的惯性参数对驱动力矩的影响。 |
| 4. | In an in - wheel - motor drive vehicle the tire - road friction coefficient is observed by means of drive torque , which can be acquired accurately and controlled easily
摘要路面附着系数是影响车辆行驶安全性的重要因素，利用轮边驱动电动汽车驱动力矩可以对路面利用附着系数进行观测。 |
| 5. | Utilizing the dynamics simulative software adams to carry out computations on the dynamic response , driving moment and natural frequency of the robot , in view of the above the optimization was carried out on the structural parameters of the robot
利用动力学仿真软件adams对机器人的动态响应、驱动力矩和固有频率进行了计算，据此对机器人的结构参数进行了优化。 |
| 6. | 1 simple structure , light weight , small cubage , small installation size , small drive moment , convenient operation , quick and flexible switch , realiable sealing , small resistance of fluid , good flow regulating function , long life
结构简单，重量轻，体积小，安装尺寸小，驱动力矩小，操作简便、开关迅速灵活，密封可靠，流阻小，具有良好的流量调节功能，使用寿命长。 |
| 7. | The result showed that the inputting moment of anklebone is 2 . 5 times of the moment of knee joint and 6 times of the moment of hipbone joint , therefore the driving moment of anklebone is one of the decision factors for the entire robot to accomplish the jumping action
结果表明：踝关节的输入力矩是膝关节的2 . 5倍，是髋关节的6倍，因此踝关节的驱动力矩是整个机器人完成跳跃的决定因素之一。 |
| 8. | The equation of the dynamical model of the intelligent system is educed when the dynamical model is established in the second part . and using matlab software simulates the mathematic model . this program gives the key curves of the intelligent system for manipulator
应用拉格朗日方程建立了智能化供弹系统的动力学方程，并应用matlab软件进行了动力学仿真，得到了驱动力矩曲线、速度曲线、加速度曲线等动力学特性曲线。 |
| 9. | The cycloid function is used to generate the horizontal and vertical foot trajectory respectively , and a modified cycloid function is used to make the acceleration curve of the joint more smooth and successive , the trajectory and drive moment of each joint is calculated by simulation
使用摆线函数分别产生足的水平和垂直方向的运动轨迹，用修正摆线函数使其加速度进一步平滑、连续，对各关节的运动轨迹和关节驱动力矩进行了仿真。 |
| 10. | On the base of the kinematics modeling and lagrange dynamics equation , the mathematical modeling is set up to dynamics of the robot . by using this method , the driving moment needed by every joint is easy to be calculated , based on which dynamics analysis can be done and motor can be selected
在运动学建模的基础上，基于拉格朗日动力学方程进行机器人的动力学建模，该建模方法可以方便地分析各关节所需的驱动力矩，作为动力学分析和机器人电机选型的依据。 |
