Through three-dimension space search, we obtain the workspace of the 6-PP〓S parallel macro-manipulator in various poses, and a curve of the relationship between workspace and mechanism geometry parameters. Also we examine the singularity and its type in all possible position/pose by singularity analysis. Dexterity analysis of the 6-PP〓S parallel manipulator is put forward using condition index of Jacobin matrix, then a curve for the relationship between dexterity tolerance and position/pose is drawn. After the kinematics analysis of a 6-PSS parallel micro-manipulator with perpendicular structures, we build the position and velocity kinematic equation using coordinate transform method. Then we discuss the characteristics for micro-manipulation, velocity transformation and kinematics decoupling.
然后，本文建立了正交结构6-PP〓S宏操作并联机器人的位置反解方程，进行速度分析，得出了机构的速度雅可比矩阵；提出了并联机器人运动解耦定义，描述了其物理表现形式，给出了并联机器人运动解耦的数学模型；研究了正交结构6-PP〓S并联机器人的运动学及其运动解耦性；通过在三维空间搜索，求解了6-PP〓S并联机器人的工作空间，讨论了工作空间与机构几何参数的关系；考察了该类并联机器人发生奇异位形的位姿和类型；研究了正交结构6-PP〓S并联机器人的可操作度，建立了灵巧度与位姿的关系。
Combining project and tree-structure manipulation, this paper discussed the dividing rule of xml key vector matrix frequent pattern.
对比其他关联算法，一系列仿真实验表明所提出算法具有一定的有效性及合理性，是重构XML结构的一种有效尝试。
The idea of complex formal derivatives is generalized from scalar to vector and matrix at first, then the manipulation rules of complex formal derivatives are derived systematically.
将原来仅限于标量的复形式导数，推广到复向量和复矩阵的范围，并系统地导出了复向量和复矩阵形式导数的运算法则；
Stoichiometric matrix is useful for describing the flux balance and optimization model determines the efficiency of manipulation reactions.
化学计量矩阵在描述通量平衡上相当有用，最适化模型则用来判断操控策略的效率；
In addition, matrix manipulation function as consistent with C + + computer language was provided.
另外，本文给出了相应的C++语言的矩阵变换函数。
Through using the inertial matrix, we analyse the manipulation of robot by the Riemannian curvature.
通过得到的惯性矩阵，应用黎曼曲率有效地分析了机器人动力学操作性能。
A Matrix Manipulation-based Method for Encrypting Message Block
一种基于矩阵运算的文件数据块加密方法