基于连续流体理论和其运动学关系，建立了力平衡方程关系式。
The force balance relations were set up on the basis of continuum fluids theory and the kinematic relations.
从抓取的力平衡方程出发，研究了外力旋量空间与任一接触处操作力空间之间的关系。
Based on the force equilibrium equations, the relationship between the external wrench space and the manipulation force space at any contact is investigated.
将充满的伞看成柔软的壳体，用力学原理建立伞绳(伞衣上径向加强带)和伞衣幅中线的力平衡方程。
The canopy under inflation is regarded as a soft shell, and the equilibrium equations in the radial member and gore centerline are established by mechanics theorems.
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