该文采用笛卡儿坐标和建立约束方程的局部方法，给出了一种求解多体系统约束力的方法。
An approach to solve constraint forces of multi-body system is presented by means of Cartesian coordinate and partial approach of constraint equations.
该文采用笛卡儿坐标和建立约束方程的局部方法，给出了一种求解多体系统约束力的方法。
An approach to solve constraint forces of multi-body system is presented by means of Cartesian coordinate and partial approach of constraint equations.
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