Aimed at a kind of new typed 6 - prrs parallel robot , this paper studied the influence on its working space affected by the variation of structural parameters of the long rod , short rod , fixed platform and moving platform of this mechanism 摘要针对一种新构型的6 - prrs并联机器人，研究了该机构中长杆、短杆、固定平台、动平台结构参数的变化对其工作空间的影响。
For the preparation of the real - time control of the 6 - prrs parallel robot , track planning is researched , including trapezoid planning and s curve planning . the harmony motion of six - axis is analyzed to get the movements of the slides 并对并联机器人的六轴协调运动进行了分析,得出了在这两种轨迹规划下的滑块运动曲线,为6 - prrs并联机器人运动的实时控制奠定了基础。
Porcine reproductive and respiratory syndrome ( prrs ) , caused by prrs virus ( prrsv ) is a severe infectious disease in swine herds characterized by reproductive failure in sows and respiratory illness in young pigs 猪繁殖与呼吸综合征( porcinereproductiveandrespiratorysyndrome ， prrs )是由prrs病毒( prrsv )引起的以母猪发生繁殖障碍和仔猪出现呼吸道症状为特征的传染性疾病。
Porcine reproductive and respiratory syndrome virus ( prrsv ) is the causative agent of prrs . it causes an important disease in pigs characterized by reproductive failure in sows and gilts , pneumonia and an increase in perinatal mortality , resulting in great economic losses to the swine industry 猪繁殖与呼吸综合征是由猪繁殖与呼吸综合征病毒( porcinerespiratoryandreproductivesyndromevirus , prrsv )引起的一种以母猪繁殖障碍和仔猪呼吸道疾病为特征的传染病。
Two strains of prrsv were isolated from the swine infected with prrsv in shangdong province and daqing area , in order to clarify the source and genetic background of porcine reproductive and respiratory syndrome virus ( prrsv ) from different parts of china , thus providing theoretic basis for the study of vaccine against it . the prrsv was cultured on mark - 145 cells for 5 ~ ~ 6 passages . when the cpe was obvious , the virus was harvested and purified 为了弄清我国不同地区prrsv的来源以及其遗传学背景，为疫苗学研究提供理论根据，本研究在ch - 1a株完整的基因组获得以后，从流行于我国山东( sd )和黑龙江大庆( dq )地区疑似prrs的猪体内分离到prrsv ，在mark - 145细胞上盲传5 6代，细胞出现明显病变以后，收获病毒液，然后提纯，提取全病毒rna ，经过反转录、 pcr扩增获得结构基因orf2 7的目的基因片断，然后与pmd - t载体连接，转化，得到阳性质粒后进行测序，并将其与ch - 1a株进行了比较分析，同时对这两个毒株的结构基因组的理化性质进行分析。
