Moment of inertia: turning around its axis of symmetry, object has the character keeping speed and the direction of the axis of rotation not changing.
转动惯性：物体在绕着自己的对称轴转动时，具有保持转速和转动轴方向不变的性质。
2
The use of frequency convert to regulate the speed of rotation according to the character of mine fan can reach the goal of the modulation of air flow and have a very good effect of saving energy.
根据矿井通风机的特性，使用变频器进行转速调整以达到调节风量的目的，且有很好的节能效果。
3
Based on the kinematics equation and the orthogonal character of the rotation sub-matrix in a transformation matrix, an approach to the inverse kinematics problem of 6r robots is proposed.