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1.
《Mechatronics》2021
Producing a stable and agile bionic eye for visual image acquisition in robotics is a challenging task. In this paper, we design a bionic eye with mirror-symmetric distribution and cross-connection of flexible ropes. This mechanism is based on oculomotor law and the physiological structure of the extraocular muscles (EOMs). Specifically, the basic structural parameters are determined by Listing’s law, and the unique connection of the flexible ropes can realize the functions of the recti and oblique muscles. Furthermore, to mimic the trochlea structure, a pulley mechanism is constructed to permit the free movement of the flexible ropes. Through simulation and physical experiments, it is demonstrated that the bionic eye mechanism can move with agility under the structural parameters. The experimental results indicate that the proposed bionic eye mechanism has a superior motion accuracy of 2.798 mm, which is 6.7% of the maximum motion distance, and the repeatable accuracy of the mechanism can up to 0.210 mm. 相似文献
2.
Mauro Sassu 《Canadian Metallurgical Quarterly》2003,129(6):607-612
A plane elastic-plastic solid body presenting kinematic hardening is used to simulate a pair of dampers at the base of a rigid structure and determine the energy dissipation under conditions of assigned, homogeneous cyclic loading. The well-known von Mises theory of plasticity is applied with the aim of obtaining analytical solutions to the problem. Such solutions are arrived at by first calculating the Odqvist parameter, which yields dimensionless relations that depend on the external loads and mechanical properties of the material. The results, in terms of dissipated energy, are given for the case of a sinusoidal process, represented with the help of dimensionless parameters useful for engineering applications. 相似文献
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3-DOF translational parallel manipulators have been developed in many different forms, but they still have respective disadvantages in different applications. To overcome their disadvantages, the structure and constraint design of a 3-DOF translational parallel manipulator is presented and named the Tri-pyramid Robot. In the constraint design of the presented manipulator, a conical displacement subset is defined based on displacement group theory. A triangular pyramidal constraint is presented and applied in the constraint designs between the manipulator?s subchains. The structural properties including the decoupled motions, overconstraint elimination, singularity free workspace, fixed actuators and isotropic configuration are analyzed and compared to existing structures. The Tri-pyramid Robot is constrained and realized by a minimal number of 1-DOF joints. The kinematic position solutions, workspace with variation of structural parameters, Jacobian matrix, isotropic and dexterity analysis are performed and evaluated in the numerical simulations. 相似文献
5.
This paper presents a general approach for Jacobian analysis of serial-parallel manipulators (S-PMs) formed by two lower mobility parallel manipulators (PMs) connected in serials. Based on the kinematic relation, coupling and constraint properties of each PM, the unified forward and inverse Jacobian matrices for S-PMs are derived in explicit form. It is shown that the Jacobian matrices of S-PMs have unified forms, which include the complete information of each PM. A (3-RPS)+(3-SPS/UP) S-PM is used as an example to demonstrate the proposed approach. The established model is applicable for S-PMs with various architectures. 相似文献
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采用UG和其二次开发接口Open C API,对日本FANUC公司生产的M-16iB/20型机器人建立了三维运动仿真模型.采用Denavit-Hartenberg方法建立了连杆坐标系下的机器人运动学模型,并采用Open C编写了运动学正、逆解的程序,阐述了模型的建立方法及过程,实现了在UG环境下的机器人按指定路径的运动仿真.最后总结了该仿真系统的主要特点,为机器人动力学及离线编程技术的研究打下了基础. 相似文献
9.
教学机器人图形仿真系统的设计与研究 总被引:1,自引:0,他引:1
在机器人运动学分析的基础上,建立HNc-1R工业机器人的数学模型,采用AutoCAD作为仿真系统的开发平台,并以其内嵌工具VBA作为开发工具,引入数学软件Matlab进行矩阵运算,实现了机器人的三维造型及动态仿真.仿真系统的实现对机器人的相关教学学习具有实际的应用价值. 相似文献
10.
The kinematics/statics and workspace of a 2(SP+SPR+SPU) serial–parallel manipulator are studied systematically. First, a 2(SP+SPR+SPU)
manipulator including an upper and a lower SP+SPR+SPU parallel manipulators is constructed, and the inverse/forward displacements,
velocity, acceleration and statics of the lower/upper parallel manipulators are studied, respectively. Second, the kinematics
and statics of the lower/upper manipulators are combined and the displacement, velocity, acceleration, statics, and workspace
of a 2(SP+SPR+SPU) manipulator are analyzed systematically. Third, the analytic solutions’ examples are given and verified
by the simulation mechanism. This manipulator has some potential applications for the robot’s arm, leg, and twist, the serial–parallel
machine tools, the sensor, the surgical manipulator, the tunnel borer, the barbette of warship, and the satellite surveillance
platform. 相似文献