外虚力的大小是无关的。
运动规划层：对经典运动规划方法中垂线法和虚力场法进行了研究和实现。
Path Planning Layer: Research and realization of perpendicular bisector method and potential field method of classical methods.
通过建立钢板弹簧的曲梁模型，应用虚力原理求解位移，得到了变截面钢板弹簧刚度的几何非线性特性。
A nonlinear characteristic of taper leaf springs is presented by using the model of curved beam and the principle of virtual force.
通过建立钢板弹簧的曲梁模型，应用虚力原理求解位移，得到了变截面钢板弹簧刚度的几何非线性特性。
A nonlinear characteristic of taper leaf springs is presented by using the model of curved beam and the principle of virtual force.
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