仿人机器人腰部机构具有调节系统平衡、协调系统运动的作用，其系统的稳定性直接决定着躯干上肢运动的稳定性。
The function of the waist mechanism of humanoid robots is adjusting system balance and keeping system motion, and its stability directly influences the stability of the trunk and the arms.
应用增量谐波平衡法(IHB法)研究轴向运动薄板横向非线性振动特性及其稳定性。
The laterally nonlinear vibration of axially moving plates was analyzed by the incremental harmonic balance (IHB) method.
在分析周期运动的稳定性时，采用谐波平衡方法，得到转子周期运动的稳定条件，为工程设计提供了一定的依据。
To study the stability of periodic motions the harmonic balance method is used. The condition for the stability of periodic motions can provide a theoretical basis for the design of rotor systems.
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