Then, the variable mass system dynamic model with nonholonomic constraints are developed for wheeled WCRs.

进一步针对轮式爬壁机器人，建立了非完整约束条件下的变质量系统分析动力学模型。

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Then, the variable mass system dynamic model with nonholonomic constraints are developed for wheeled WCRs.

进一步针对轮式爬壁机器人，建立了非完整约束条件下的变质量系统分析动力学模型。

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