Firstly, the links of the plane five-bar linkage mechanism is simulated by beam element, the mass matrix, stiffness matrix of linkage mechanism and elastic dynamic model of system are established.
首先对弹性五杆机构进行有限元分析，通过机构梁单元节点位移间的关系，建立起弹性五杆机构单元质量矩阵与刚度矩阵以及弹性动力学模型。
And the reduced linear elastic stiffness matrix is formulated for the macro-element of planar beam attached with springs at both ends through static reduced technique.
采用静力缩减方法，由平面梁单元弯曲平衡方程推导出两端带扭簧的杆件宏单元缩减刚度矩阵。
Reference to the derivation of the general beam element matrix, taking into account the shear deformation of the beam element, it is derived spatial beam element stiffness matrix.
参考一般梁单元矩阵推导过程，考虑了梁单元的剪切变形，推导出空间梁单元刚度矩阵。
Then, based on the CR formulation, the internal force vector and tangent stiffness matrix of large rotation and small strain space bar and plane beam element are deduced.
其次，基于CR列式法推导出了大旋转小应变空间杆单元及平面梁单元的内力矢量及切线刚度矩阵；
Then, based on the CR formulation, the internal force vector and tangent stiffness matrix of large rotation and small strain space bar and plane beam element are deduced.
其次，基于CR列式法推导出了大旋转小应变空间杆单元及平面梁单元的内力矢量及切线刚度矩阵；
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