115results about How to "Add constraints" patented technology

The invention discloses a low-energy-consumption posture analysis method under the standing state based on a bionic foot robot. The research is performed for the relation between the posture and the energy consumption of the foot robot, firstly the output torque of each joint of the legs is obtained through static leg analysis and the overall energy consumption model of the foot robot is established; then the motion flexibility of the robot is comprehensively considered, the maximum step performance indicator is introduced and the multi-objective function based on the energy consumption and the maximum step is established; and the low-energy-consumption posture of the robot is obtained through MATLAB simulation. The reliability and the effectiveness of the analytical method are proved by the experiment, the objectives of reducing energy consumption and increasing work endurance time can be achieved by adjusting the posture of the robot under the horizontal environment by establishing the dynamic relation between the robot posture change and the energy consumption and thus the method has important meaning for the static posture research of the robot.

The invention discloses a parallel binocular camera calibration method based on three-dimensional reconstruction, and the method comprises the steps: carrying out the multi-azimuth and multi-angle photographing of a calibration plate through a binocular camera, and obtaining a plurality of groups of left and right images of the calibration plate; obtaining camera initial parameters by using a Zhang Zhengyou calibration method; introducing a centroid increment formula, eliminating the influence of a coupling effect between a rotation matrix and a translation vector in a parameter updating process, constructing a cost function, and avoiding an overfitting phenomenon in a rotation matrix calculation process by utilizing least square method regularization; constructing a cost function betweenthe theoretical three-dimensional coordinates of the feature points and the true values of the corresponding feature points in a world coordinate system, and meanwhile, utilizing epipolar constraint and epipolar distance constraint to improve the convergence of the cost function and improve the accuracy of updating camera parameters.

The invention relates to a composite front suspension special for a large coach, comprising a guide leaf spring; the guide leaf spring is respectively provided with an air spring sac and a bracket, a damper and a lateral stability torsion bar. The invention maintains the original good performance of the air spring, thereby overcoming the acute shortcomings of the air spring front suspension guided by multiple connecting bars; and the invention has simple structure, accurate front axle positioning, safety and reliability, light self-weight and low cost.

The invention discloses an orthodontic arch wire variable radius circular domain division method based on bending point angular distance ratio sum, relates to the technical field of orthodontic arch wire bending. Aiming at an orthodontic arch wire curve with relatively small bending point density, based on an orthodontic arch wire curve bending point information set and a robot bending informationset of bending points, and in combination of the motion characteristics of a robot bending orthodontic arch wire, the orthodontic arch wire variable radius circular domain division method based on the bending point angular distance ratio sum is established. The method is technically characterized by comprising the following steps of converting an orthodontic arch wire curve T into a plane curve T'; performing setting and simplifying on circular domain limiting parameters; determining the radius and the circle center of the divided circular domain; defining a bending circular domain with a reasonable angular distance ratio; judging whether circular domain division is continued or not; and by taking the angular distance ratio of the bending points of the circular domain as an index, arranging the circular domains in a descending order, specifying the bending point sequence of the circular domains, and outputting the final bending point bending sequence T1 and R1. According to the method, the variable radius circular domain is used for dividing, the angular distance ratio sum of the bending points is used as a judgment condition, the orthodontic arch wire bending planning efficiencycan be improved, and the problem of interference in the orthodontic arch wire bending process of a robot is avoided.

The invention discloses a double-pre-film type ultrasonic spray nozzle, specially an ultrasonic atomizing spray nozzle suitable for a combustor, which belongs to the field of industrial combustion. The double-pre-film type ultrasonic spray nozzle comprises a spray tube, a central rod, a resonant cavity, a flat gasket and a hexagonal nut, wherein the outlet section of the spray tube is equipped with a convergent spray tube; the inner part at the left end of the central rod is hollow; the right end of the central rod is equipped with a solid rod; the outer surface of the solid rod is tapped withthreads; and the resonant cavity, the flat gasket and the hexagonal nut are connected by the central rod. Double-pre-film type oil spray and convergent spray tube type design are adopted, so that thespray nozzle can realize secondary atomizing; fuel oil flow and air flow can be met according to the dimension of a to-be-regulated structure; and meanwhile, a distance from the resonant cavity to anoutlet of the spray tube can be regulated to obtain different spray angles. The double-pre-film type ultrasonic spray nozzle is simple in structure, is small in gas-liquid ratio, is good in atomizingeffect, is great in atomizing angle variable range, sufficiently utilizes structure characteristics, flow field characteristics and sound pressure characteristics of an ultrasonic generator, greatlyimproves atomizing quality of fuel oil from structure and principle, and improves combustion efficiency.