Thirdly , based on the geometrical differential constraints and force balancing constraints of the coordinated flexible manipulators , the mutual relationships between the kinematic and dynamic parameters in static configuration have been presented . the manipulation stiffness of the coordinated system has also been proposed . the manipulability of the flexible robot system has been then analyzed in two aspects : i ) the global characteristics in the manipulation workspace based on the manipulation stiffness ; ii ) the local property of the reachable boundary of generalized forces 然后，利用柔性机器人协调抓取的几何微分约束和力平衡约束，通过深入分析系统在静态位形时其内部各运动参量和力参量之间的关系，定义了系统的操作刚度，从两个方面对系统的操作性能进行了分析： 1 ）操作空间中，基os于系统操作刚度的全局特性； 2 ）在一定约束的条件下，系统操作力矢端可达二边界的局部特性。
A mathematical model is developed to comprehensively describe and analysis the vibration of over - head transmission lines according to pertinent datum . based on the model ， an optimum solution about the conductor - damper system is put forward to by means of the analysis of possible anti - vibration designs . a method of balance - energy is used to acquire the frequency - respondence features of the conductor - damper system under the function of breeze ; a cad software is presented and developed in terms of above approaches . the model applied in the thesis is comprehensible and considerate , and the results from the model are close to the data from experimental site . beside these , favourable interactive operational capability makes it possess more practical and economic value 通过分析有关资料，建立了普通档距导线微风振动系统的防振数学模型，并在该数学模型的基础上，对防振结果进行了优化分析，得到了防振系统的解，用能量平衡原理，得到系统在微风作用下的频响特性；采用这种方法设计了普通档距防振的计算机辅助分析软件。所采用的分析方法对微风振动的影响因素考虑全面，所求结果与现场实验观测中的数据比较接近，且人机交互操作性能良好，有一定的工程实用价值
According to professor hu , the aim of the project is to bring the public in direct contact with robots , increasing their understanding of science and technology : this work has many real - world applications including seabed exploration , detecting leaks in oil pipelines , mine countermeasures , and improving the performance of underwater vehicles ）教授的观点是，该项目的意图是让公众有机会与机器人近距离地接触来提高他们对科学技术的认识程度： “这项工作能广泛地应用于现实世界的海底勘探、海底输油管道裂缝探测，进一步完善海底开采手段以及提高水下交通工具的操作性能等方面。 ”
