对于非线性杆件单元，本文提出一种新的简便有效的集成单元刚度矩阵的算法。
A simple and efficient method for integrating the nonlinear beam element stiffness matrix is presented in this paper.
本文给出了一般开链弹性机器人机构动力学方程。该方程是由关节广义坐标和杆件模态坐标联立的非线性微分方程组。
In this paper the governing equations of flexible manipulators are derived, which are nonlinear simultaneous differential equations of joint variables and link elastic modal coordinates.
本文的主要目的是探讨在需要考虑几何非线性的情况下，开口薄壁杆件结构的地震反应时程分析。
The purpose of this thesis is to explore the geometric nonlinear seismic response time integration of open thin-walled frame structures.
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