接着，以多体系统动力学理论为基础，建立了连续采煤机履带行走装置的虚拟样机模型，在建立模型过程中，最为复杂的可谓施加接触力。

Then, the virtual prototype of crawler running device is established based on multi-body system dynamics theory. The most complex part is to exert contact force in the model building process.

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非连续变形是多体系统的一个重要特性。

Discontinuous deformation is a fundamental character of multi-body system.

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