对于非线性杆件单元，本文提出一种新的简便有效的集成单元刚度矩阵的算法。
A simple and efficient method for integrating the nonlinear beam element stiffness matrix is presented in this paper.
本文给出了一般开链弹性机器人机构动力学方程。该方程是由关节广义坐标和杆件模态坐标联立的非线性微分方程组。
In this paper the governing equations of flexible manipulators are derived, which are nonlinear simultaneous differential equations of joint variables and link elastic modal coordinates.
本文根据作者提出的线性化方法，对于斜向波浪和水流作用下水平杆件上的拖曳力做了线性化。
Based on the linearization method presented by authors, the force spectrum on horizontal cylinder by diagonal wave and current is established.
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