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

《运筹学》课程教学资源（PPT课件讲稿）单纯形法的一般描述、各种类型线性规划的处理、迭代过程中可能出现的问题及处理方法

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

Contents Preface 1 Separation processes- an overview S. Grandison and M. J. Lewis 1.1 Foods the raw material 1.2 Separation techniques 1.2.1 Introduction 1.2.2 Separations from solids

Index adsorption recycle extraction, continuous, 196 concentration polarisation, 72 adsorption systems, expanded bed, 195 concentration polarisation, UF, 106, 146 adsorption, SCF, 40 critical T and P for supercritical fluids, 20 affinity chromatography, 202 crystallisation, 230

Chapter 9 Solids separation processes M.J. LEWIS, Department of Food Science and Technology, The University of Reading RG6 6AP 9.1 INTRODUCTION This chapter will cover the separations involving solid foods, together with the propertie

Chapter 7 Innovative separation methods in bioprocessing J. A. ASENJO, Biochemical Engineering Laboratory Department of Food Science and Technology, The University of Reading, Reading RG6 6AP, UK and J. B. CHAUDHURI, School of Chemical Engineering, University of Bath, Bath

Chapter 5 Microfiltration A. S. GRANDISON, Department of Food Science and Technology, The University of Reading, Reading RG6 6AP and T.J. A FINNIGAN, Marlow Foods, Middlesbrough. 5.1 INTRODUCTION Microfiltration (MF) is the oldest membrane technology, having been used several