本文给出了此方法的原理，包括关于拉格朗日力学的论述，并有一些实例。
The principles of the method, including an account of Lagrangian mechanics, are given in this paper with a number of examples.
拓展了结构分析有限条法，基于固体力学有限形变理论的更新拉格朗日法（U 。
The finite strip method in structural analysis has been extended, and elastic-plastic large deformation spline finite strip method based on the Updated-Lagrange method (U.
介绍了键图理论应用于建立复杂航天器系统的动力学模型的基本思想以及拉格朗日键图的具体应用步骤。
The fundamental idea of dynamic modelling of complex spacecraft system using Bond Graph theory, and the procedure of using Lagrange Bond Graph are discussed.
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.
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.
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.
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.
提出非完整力学的广义达朗贝尔-拉格朗日原理，包括其牛顿表述和拉格朗日表述。此原理能导出态空间封闭的运动方程组。
Generalized DAlembert-Lagranges principle for non-holonomic mechanics, including its Newtons formulation and Lagrangian formulation, are given. This principle can lead to the closed motion equations.
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.
利用拉格朗日法建立了双足机器人的动力学模型。
The dynamic model of biped robot is built with Lagrangian method.
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.
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.
采用改进的基于质点速度波形测量的拉格朗日分析方法，研究了率型材料的动态力学性能。
A modified Lagrangian analysis was adopted to study the dynamic mechanical behavior of rate-dependent materials based on particle velocity profile measurement.
运用拉格朗日法建立了该冗余驱动并联机床的动力学模型，并提出了一种新的冗余驱动力规划方法。
The dynamic equation of this PMT with redundant actuation is built by Lagrange equation. A novel force distribution method is proposed for redundant actuation.
用弹性曲面的拉格朗日动力学推导出了准d - NURBS摆转曲面的运动方程。
The equations of motion for the simplified dynamic NURBS swung surfaces model are derived using the Lagrangian mechanics.
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.
基于拉格朗日法建立振动筛系统动力学模型，分析出了该系统的固有频率、主振型及系统的响应。
Based on Lagrange dynamics model of vibration machinery system is established. Natural frequency, vibration model and systemic response are worked out.
结合系统线动量及角动量守恒关系，通过拉格朗日法建立了系统的动力学模型。
With the relationship of the system linear and angular momentum conservation, a system dynamics model was established by Lagrangian formulation.
基于拉格朗日动力学分析方法，推导出倒立摆的运动方程，在对系统进行可行的近似化处理后，得出了便于分析的数学模型。
Movable equation of the inverted pendulum is derived, according to the dynamics analysis method of Lagrange. By system feasible approximation, an easily analytical math model is deduced.
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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