针对带铰接间隙大型桁架式伸展机构的动力学方程，分析了方程的非线性特性，研究了其数值求解方法。
The characteristics of nonlinear equations for a deployable truss structure with clearances are analyzed, numerical solution method for such equations is studied.
机构铰接副处过大间隙将引起异常的振动与噪声，加速了疲劳与磨损，严重地影响了机器的动态性能。
Excessive clearance of mechanism joint pair will cause abnormal vibration and noise, accelerate fatigue and wear and seriously affect the dynamic performance of machine.
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