一、杆件参数的意义 二、坐标系的建立原则 三、杆件坐标系间的变换过程-相邻关节坐标 系的齐次变换 四、机器人的运动学方程

1.什麽是图解法? 线性规划的图解法就是用几何作图的 方法分析并求出其最优解的过程。 求解的思路是:先将约束条件加以图 解,求得满足约束条件的解的集合(即可 行域),然后结合目标函数的要求从可行 域中找出最优解

在建筑工程中,当地基浅层土质不良,无法满足建筑物对地基变形和强度方面的要求 时,可选深层较为坚实的土层或岩层作为持力层,用深基础来传递荷载。深基础主要有 基础(国内桩基础深度已达120m,直径超过5m;小的仅70~80mm)、沉井和地下连续墙 等几种基本类型。其中,桩基础以其有效、经济等优点使用最为广泛,常应用于工业与民 用建筑、桥梁、港口等工程中

地基处理是一项历史悠久的工程技术。早在二千多年前,我国就开始利用夯实法、软 土中夯入石头、压密土层等方法进行处理。解放后先后采用过砂垫层、砂井化学和电化法 处理软弱地基。现在又发展了振冲法、强夯法、真空预压加固、加筋法等

地基在荷载作用下会产生附加应力,从而引起地基(主要是竖向变形),建筑 物基础亦随之沉降。如果沉降超过容许范围,就会导致建筑物发裂或影响其正 常使用,严重者还会威胁建筑物的安全因此,在地基基础设计与施工时,必 须重视地基变形问题;如果地基不均匀或上部结构荷载差异较大,还应考虑不 均匀沉降对建筑物的影响

Preface This book concentrates on the more recent methods and techniques for separating food components and products of the biotechnology industry. Each chapter deals with a specific type or area of application and includes information on the basic principles

This book concentrates on the more recent methods and techniques for separating food components and products of the biotechnology industry. Each chapter deals with a specific type or area of application and includes information on the basic principles, industrial equipment available, commercial applications and an overview of current research and development and some of the heat and mass transfer considerations in batch and continuous processes Separations from solids, liquids and gases are briefly discussed. A summary is provided of the more conventional separation techniques such as screening, filtration and centrifugation, and techniques for

Chapter 8 Fractionation of fat KANES K. RAJAH, Welsh Institute of Rural Studies, University of Wales, Aberyst- wyth, Penglais Campus, Aberystwyth, Dyfed SY23 3DD 8.1 INTRODUCTION Edible fats are derived from animal, marine or plant sources. They are often not available

Chapter 6 Ion-exchange and electrodialysis ALISTAIR S. GRANDISON, Department of Food Science and Technology, The University of Reading, Reading RG6 6AP, UK Ion-exchange and electrodialysis are distinct methods of separation, but can conveniently be treated together, as the basic criterion for separation in both cases is the molecular

Chapter 4 Ultrafiltration M.J. LEWIS, Department of Food Science and Technology, The University of Reading RG6 6AP 4.1 INTRODUCTION Ultrafiltration offers the opportunity to concentrate large molecular weight components without the application of heat or a change of phase. Such components are rejected