Based on flexible multi-body system dynamics theory, kinematic and dynamics equations of deployable space cable-pole structure are derived.

基于柔性多体系统动力学理论，推导了可展空间索杆结构的运动学与动力学方程。

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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.

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。

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The dynamic simulation model based on the multi-rigid-body theory of the passenger restraint system for side impact of a car is created, and its validity is verified by tests.

针对某轿车建立了基于多刚体理论的侧面碰撞乘员约束系统动态仿真模型，并依据试验结果进行了模型的有效性验证。

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