To improve the experimental error for displacement of the flexure hinge, I would investigate both the error propagation of the dimensional error and the horizontal-vertical alignment of camera.
为了改进弹性接头的位移实验误差，我将探讨尺寸误差的误差传递和CCD的水平度与垂直度校正。
Firstly, several kinds of schemes were proposed according to the design demand. The best scheme was chosen after analyzing and comparing the schemes. The robot`s structure was designed with Pro/Engineer and AutoCAD software. Secondly, the kinematics analysis conducted, coordinate transformation matrix using D-H method was set up, and the kinematics equation direct solution and inverse solution was deduced. The manipulative interface about the kinematics equation direct solution and inverse solution was completed with VC++ and the velocity Jacobian of displacement matrix was constructed using differential transform method. In the process of the trajectory planning based on robot`s kinematics analysis, I propone a method by which we can get middle nodal point with normalizing factor in order to simplify our searching for these middle nodal points. In addition, I give these middle nodal points with actual physics signification. For eliminating contradiction between real-time and accuracy, I bring forward separately limit of error and reversal interpolation method. For decreasing calculation quantity, we resort to tri-spline interpolation in the articulation space. We analyse the work range of the robot by resorting to graphic means.
首先，作者针对机器人的设计要求提出了多个方案，对其进行分析比较后，选择其中最优的方案后用Pro/Engineer和AutoCAD软件进行了机器人模型结构设计；其次，进行了运动学分析，用D-H方法建立了坐标变换矩阵，推算了运动方程的正、逆解，运用VC++制作了正、逆运动学求解的求解界面；并且用微分变换法推导了速度雅可比矩阵；在基于机器人的运动学的轨迹规划中，通过在操作空间的规划，提出了归一化因子来求解中间结点，通过它可以使求解中间结点变得更简单，并且赋予这些中间结点实际的物理含义，对于规划中精确性和实时性的矛盾，提出了以误差极限法和反向插值法来解决的方法；为了减少规划过程中计算量，在关节空间进行三次样条插值；然后借助图解法进行工作空间分析，作出了实际工作空间的轴剖图。
Finally, the model test results were compared with results from finite-element method analysis software ANSYS. All of the conventional rotational joints there is relative motion causing friction that leads to wear and increase clearances. According to the relation between allowable stress and required displacement, designer could find the geometric dimension of the flexural pivot. The results show that the FEM analysis results are less than 10% error compared with the analytical predictions. Compared to conventional rotational joints, flexural pivot are highly-efficient angular motion agents that present zero friction and backlash in application such as straight line motion mechanism, micro-positioning stage.
藉由梁理论所建立起的挠性铰链应力与位移关系式，可让设计者得到在容许应力及位移需求下，挠性铰链的几何尺寸，经由理论估算比对FEM模拟结果，显示挠性铰链之平行机构最大应力与位移误差约在10%以下，挠性铰链是藉由材料本身提供挠性来替代传统铰接方式，可避免旋转元件彼此间隙产生的误差及因接触面有相对运动所造成的磨耗，拥有低误差、高工作寿命的优点，可应用於精密机械的作动，如：直线机构、精密定位平台。
Finally, the model test results were compared with results from finite-element method analysis. All of the conventional rotational joints there is relative motion causing friction that leads to wear and increased clearances. According to the relation between stress and displacement, designer could found the geometric dimension where limited rotation was required. The results show that the FEM analysis results are within 10% error limits of the analytical predictions. Compared to conventional rotational joints, flexural pivot are highly-efficient angular motion agents that present zero friction and backlash in application such as flyprobe mechanism, micro-positioning stage.
藉由梁理论所建立起的挠性铰链应力与位移关系式，可让设计者得到在所需容许应力及位移需求下挠性铰链的几何尺寸，经由实验估算比对FEM模拟结果，显示挠性铰链和其平行机构之最大应力之位移误差约在10%以下，挠性铰链是藉由材料本身提供挠性来替代传统铰接方式，可避免旋转元件彼此间隙产生的误差及因接触面有相对运动所造成的磨耗，拥有低误差、高工作寿命的优点，可应用於精密机械的制造，如：飞针机构、精密定位平台。
The maximum displacement measuring error of this system is 0.5μm.
在实际工程检测应用中实现了极限误差优于0.5μm的检测精度。
Data processing is performed by PC, which includes detecting rough error by quartile method base on first order differential, adopting three points algorithm to eliminate deviations of rack displacement and installation, applying minimum containing area method to evaluate the sectional plane radius of roller and realizing it by genetic algorithm, adopting Akima method to fit curve of roll profile.
主要的数据处理工作在上位机进行，采用基于差分法的分位数算法剔除粗大误差；采用三点式测量原理消除探头的安装及运动所产生的误差；采用最小包容区域法评定轧辊半径，并应用遗传算法实现最小包容区域法的寻优计算；采用阿克玛插值方法进行辊型的曲线拟合。
Finally, an autocollimator and a high precise measuring head were used in the measurement of the displacement straighness and the the error of the lifting displacement, respectively.
用自准直平行光管和高精度测量头分别检测了平台的位移直线度和升、降位移误差，实验结果得出，该机构的位移直线度误差小于1，升、降位移误差小于0.02 mm，达到了平台设计要求。
Finally, an autocollimator and a high precise measuring head were used in the measurement of the displacement straighness and the the error of the lifting displacement, respectively. The experiment results show that the error of the displacement straighness is smaller than 1 and the error of the lifting displacement is less than 0.02 mm, which shows that the structure achieves the design desire completely.
用自准直平行光管和高精度测量头分别检测了平台的位移直线度和升、降位移误差，实验结果得出，该机构的位移直线度误差小于1，升、降位移误差小于0.02 mm，达到了平台设计要求。
In this paper, according to the characteristics of central projection, aerial photographs were analyzed to discuss displacement of images under tilt conditin or caused by ground undulation, based on which the principles of tilt error and projection error were summarized.
根据中心投影的特性，论述了像片在倾斜条件下所引起的像点位移和像片因地面起伏而引起的像点位移，在对其进行分析的基础上总结出倾斜误差和投影误差的规律，从而说明了不能把像片当作地形图使用。
Included in each active joint, an AC brushless motor drove harmonic transmission whose output angle displacement was measured by a rotary encoder and fed back to joint position controller. Thus, high position resolution and precision of active joint is achievable while transmission error and friction disturbance of harmonic drive is eliminated.
通过交流无刷电动机驱动、谐波减速传动和圆光栅反馈角位移信号而构成的机器人关节驱动控制系统，降低了机械传动误差、摩擦干扰等因素的影响，提高了驱动关节的位置分辨率和定位精度。
Compared with the conventional 2-D coordinate measuring systems, the new system has great improvement at measuring speed, aiming accuracy, measuring function and degree of automation The new system consists of two parts image measuring system of displacement and image autofocusing and aiming system The displacement measuring system in which CCD camera is used for locating the optical scale not only processes the advantages of absolute code measuring system powerful noiseproof feature, good long-time stability, easily compensated ruling error of optical scale, but also has the advantages of morden numerical systems easy numeralization and intelligence The autofocusing and aiming system in which CCD camera is applied for gaining the defocusing information and edge location information of workpiece enjoys the advantages of fast autofocusing, accurate result, high accuracy of edge detection and wide range of measured parameters, etc The feasibility of the new 2-D measuring system is analyzed in this thesis and related parameters are calculated.
详细本文在分析了现有二维中小尺寸测量系统中，光学仪器的光学读数系统和调焦、瞄准系统的优缺点之后，结合现代数字化仪器的优缺点，提出研制一种新的二维图像测量机系统。与传统二维坐标测量系统相比，新型系统在测量速度、瞄准精度、测量功能及自动化程度等方面都有较大的提高。该系统由图像式位移测量系统和图像式自动调焦、瞄准系统组成。图像式位移测量系统采用CCD摄象机拾取光学线纹尺的位置信息，既具有传统光学式绝对码位移测量系统的优点—抗干扰能力强、长期稳定性好、光学标尺误差易于补偿等优点，又具有现代化数字仪器易于微机化、智能化的优点。
The measurement principle of this study is that when the stylus tip of the contact probe is touches the object surface, the contact force would be passed to the suspension structure via the lead cylinder, and the cross-form frame bar inside the suspension structure generates vertical displacement. Then the optical displacement sensor would generate a focus error signal, and move the contact probe driven by program judgment, so that the contact probe always moves along the surface profile. At the same time, the coordinates of PCLM are recorded by a linear scale, and are used to obtain the profile data of objects.
本研究之测原为当接触式探头的探针接触於待测物表面时，所造成的接触会经由圆柱导杆传达至悬吊结构，并使悬吊结构中的十字型结构产生垂直位移，此时光学式位移感测器会产生一失焦讯号，再经由程式判断带动接触式探头移动，使接触式探头始终沿著表面动，同时记下光学尺讯号，由压电陶瓷马达座标值可得到待测物的据。
Firstly, it is demonstrated that the residual of the hyper-singular integral equation can be used for the error estimation of an approximate solution of a known traction or displacement problem. It is also shown that this result can be further extended for mixed boundary problems.
首先，证明了超奇积分残余可作为纯已知面力或纯已知位移问题近似解的后验误差估计，说明这个结论可进一步推广到混合边值问题。
Two method is provided to correct this error. 3. The relationship between decorrelation of speckle and 3D displacement is systematically researched and the maximum of 3D displacement that can be measured is determine.
对散斑干涉中的解相关和三维位移的关系进行了系统的研究，由此得到了在电子散斑中三维位移的最大允许测量范围，并对试验中放大倍率、成像镜的相对孔径和焦距的优化选择以获得最佳的条纹质量提供依据。
The above anastomosising error lie paper caused by problems of business card printing and membership card making, its transposition error just one-sided, while the other side is the normal position, this is an error with the crop displacement different places.
上述的移位错体，均解纸张的障碍所造不败的制卡和会员卡制息移位，其移位错体只是单不背的，另外一不背则是变态场所，这是跟裁切移位错体差别的不天方。
Stepping motor, with it's convenience of connecting with computer, no error accumulation of output angle displacement, high precision in open loop, is becoming the important execute component.
由于其系统与计算机接口特别方便，输出角位移误差不会长期积累，开环运行有较高的精度，因而成为数控系统中的重要执行部件。
Stepping motor, with its convenience of connecting with computer, no error accumulation of output angle displacement, high precision in open loop, is becoming the important execute component.
由于其系统与计算机接口特别方便，输出角位移误差不会长期积累，开环运行有较高的精度，因而成为数控系统中的重要执行部件。
The dam press beforehand made up software program came satisfaction self governing oblige, namely on the basis of high or low-water signal came control radial diffuser influent valve%26rsquo; s switch, and proceed overfull and low water%26rsquo; s grade from water tank and pond back of the monitor prime include radial diffuser automatism open cease dam, water level flow, man metric measuring and regulate; use water flow, displacement'measure; water treatment equipment locomotive put in control; water quality detection; water conservation program control; malfunction and error state'enter grade up under observation back of the through the medium of transducer and bang-bang control component self-correcting pumping unit expeditiously running.
供水系统的监控主要包括水泵的自动启停控制、供水压力的测量与调节、系统主管道水压的；系统水处理设备运转的监视、控制；故障及异常状况的报警等。
The dam press beforehand made up software program came satisfaction self governing oblige, namely on the basis of high or low-water signal came control radial diffuser influent valve`s switch, and proceed overfull and low water`s grade from water tank and pond back of the monitor prime include radial diffuser automatism open cease dam, water level flow, man metric measuring and regulate; use water flow, displacement'measure; water treatment equipment locomotive put in control; water quality detection; water conservation program control; malfunction and error state'enter grade up under observation back of the through the medium of transducer and bang-bang control component self-correcting pumping unit expeditiously running.
供水系统的监控主要包括水泵的自动启停控制、供水压力的测量与调节、系统主管道水压的；系统水处理设备运转的监视、控制；故障及异常状况的报警等。
Analyzing adjustment to the error between differential chain and its effect on the displacement gauge caused by the error between two hanging wheels, we learn that a higher precision of adjustment can be realized, if we designate first and then set the differential hanging wheel before make an adjustment of the gear-hobbing machine by compensation method.
通过分析差动链对挂轮误差的补偿情况，以及存在于两组挂轮上的挂轮误差对工作台计算的位移的影响，说明在用补偿法调整滚齿机时，先设定分齿挂轮，再确定差动挂轮，就能获得较高的调整精度。