This paper aimed to achieve the dynamics model of mass terms for PMAs. In the modeling, PMAs were considered as a system of particles which were distributed uniformly along a cylinder.
单独考虑气动肌肉的质量项并在动力学推导中将其看成沿圆柱体均匀分布的质点系，利用拉格朗日方程建立了气动肌肉质量项动力学模型。
This paper aimed to achieve the dynamics model of mass terms for PMAs. In the modeling, PMAs were considered as a system of particles which were distributed uniformly along a cylinder.
单独考虑气动肌肉的质量项并在动力学推导中将其看成沿圆柱体均匀分布的质点系，利用拉格朗日方程建立了气动肌肉质量项动力学模型。
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