介绍基于笛卡尔坐标的多刚体系统运动学与动力学分析方法。
Based on the Cartesian coordinate, methods of kinematics and dynamics analysis for multi-rigid-body system are introduced.
通过运动分析给出了实现径向直线伸缩运动的必要条件，进行了净化机器人的运动学与动力学分析。
According to motion analysis, the necessary conditions for realizing the radial rectilinear motion were given and the kinematics and dynamic analysis of the cleaning robot were discussed.
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