第一类是它的外形约束限制了它的使用。
The first set is its physical constraints that limit its use.
应用第一类拉格朗日方法对系统进行力学分析，建立了以电机转矩为输入且轮在轴向无滑移的非完整约束下系统的数学模型。
The treeshaped holonomic multi-rigid-body system, subjected to outside first order linear non-holonomic constraint, is regarded as treeshaped non-holonomic multi-rigid system.
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