Employing the virtual displacement principle and considering constraint conditions of material interface, the stiffness matrix and equivalent load vector for this element are established.
应用虚位移原理和结合考虑材料交界面上的约束条件，文章建立了接触单元的刚度矩阵和等效荷载向量。
This paper described the development of fingertip force sensor based on cylindrical elastic body employing the water pressure compensation technique, and analysed the principle.
采用水压力补偿技术，设计了基于圆筒式测力结构的水下灵巧手指端力传感器，分析了其工作原理。
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