其次，得到了刚体和一般运动中的实数四元数形式的姿态方程式和位移方程式。
Secondly, a real number quaternion transformation is used to study the general motion of a rigid body and the relative motion of several rigid bodies;
本文采用解析法导出了这种差动机构中拔取罗拉的位移，速度和加速度的方程式。
The analytical method is applied in deriving equations for the displacement, velocity and acceleration of the detaching roller installed in the differential mechanism.
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