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本文利用4×4矩阵和拉格朗日方程导出了统一形式的空间机构动力学方程。并基于此方程,提出了一种求解空间机构动力响应的新方法,算例表明,该方法是行之有效的。
In this paper, we use the 4 × 4 matrix and the Lagrange equations to derive the unified form of the dynamics of the space agency. Based on this equation, a new method to solve the dynamic response of space mechanism is proposed. The example shows that this method is effective.