根据弹性稳定理论，建立腿端转角方程，并由此导出稳定方程。
Equations of end Angle deformation of legs are established based on elastic stability theory, where from stability equation is deduced.
应用矢量旋转公式及连杆运动约束方程，我们可以求得连杆转角及连杆曲线上点的坐标值。
With the aid of the formula for the rotation of a vector and constraint equations for the connecting rod, the rotation Angle and the coordinates of path points of the connecting rod can be obtained.
采用虚功原理，通过对单元转角-位移方程的修正，推导了这种计算模型的单元质量矩阵和刚度矩阵。
Revising the rotation displacement equation, the mass matrix and stiffness matrix of this kind of structure were derived by virtual principle.
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