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重点讨论了如何用Ｇａｕｓｓ法求解机械臂系统动力学问题．首先引入Ｇａｕｓｓ拘束量，然后建立单开链机械臂系统动力学模型，并给出了求解方法．
Focus on how Gauss method to solve the problem of mechanical system dynamics. Firstly, the Gauss restraint quantity is introduced, then the system dynamics model of single open-chain manipulator is established and the solution method is given.