目的简化人体上肢结构，建立两刚体系统动力学模型，并对其进行数值求解。
Objective to simplify the structures of human upper extremity into a two rigid-body system by establishing a dynamic model based on a numerical equation approach.
运用多刚体系统动力学及接触冲击理论建立了节理岩体弹塑性动态本构模型。
In this paper, a elastic-plastic dynamical constitutive model on jointed rock masses under blasting load is established with the help of the multiple rigid-body dynamics and contact-impact theory.
利用完全笛卡尔坐标描述多刚体系统，建立多刚体系统动力学微分-代数方程。
Based on the fully Cartesian coordinates, a differential/algebraic equation system of multibod.
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