本文基于拉格朗日动力学方程推导并提出了变运动学模型下动力学模型变换定理。
The kinetic model transformation theorem in the change kinematics model is put forward and deduced based on the Lagranges kinetic equation.
推导了具有运动约束的机器人的拉格朗日动力学方程，该方程中包含了广义约束力。
Lagrangian dynamic equations of a robot with kinematic constraints are derived, in which generalized constraint forces are included.
ADAMS采用拉格朗日动力学方程，辅以刚性积分算法以及稀疏矩阵技术来求解模型。
ADAMS solves the model by adopting Lagrange dynamics equation and complementing with rigidity integral algorithm and sparse matrix technology.
运用拉格朗日动力学方程对简化的机器人模型分别在单、双脚支撑期进行了动力学建模，得到了一个便于控制的动力学模型。
By Lagrange dynamic equations, the dynamic model of the simplified biped is given respectively in the period of single-foot support and double - foot support, and this model is easy to control.
根据拉格朗日动力学方程及克雷洛夫-勃拉哥维辛斯的理论，首次建立了“船舶-减摇鳍-被动式减摇水舱”综合减摇系统的数学模型。
According to Lagrange dynamical equation and Kriloff theory, the mathematical model of integrated anti-roll system "ship -fin stabilizer-passive anti-roll tank" is built up.
运用拉格朗日法建立了臂杆柔性的机械臂的动力学方程。
The dynamic equation of robot arms with link flexibility is established using Lagrange method.
利用拉格朗日法和假设模态方法建立了末端柔性的两臂漂浮基空间机器人的非线性动力学方程。
Nonlinear dynamic equations of a free-floating space robot with two manipulators and a flexible end-manipulator are established based on Lagrange and assumed mode methods.
依据系统动量守恒关系和拉格朗日第二类方程，推导了漂浮基双臂空间机器人系统的动力学方程。
According to the momentum conservation law, the dynamic equations of dual-arm space robot system were established through Lagrange equation of the second kind.
利用拉格朗日分析力学体系，推导了考虑转向系统刚度、轮胎侧偏刚度和转向助力等因素的线性多轴转向车辆的三自由度普适动力学方程。
Using Lagrangian analysis method, a 3-dof multi-axle steering vehicle model is established, which considers steering system stiffness, cornering stiffness and power steering system.
利用拉格朗日分析力学体系，推导了考虑转向系统刚度、轮胎侧偏刚度和转向助力等因素的线性多轴转向车辆的三自由度普适动力学方程。
Using Lagrangian analysis method, a 3-dof multi-axle steering vehicle model is established, which considers steering system stiffness, cornering stiffness and power steering system.
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