Based on clear physical concepts, complete nonlinear dynamic equations of two-phase media are derived by using classic mechanical principle directly.

本文以清楚的物理概念，依据经典力学原理建立了两相介质完整的动力学非线性方程组。

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Nonlinear dynamic equations of a free-floating space robot with two manipulators and a flexible end-manipulator are established based on Lagrange and assumed mode methods.

利用拉格朗日法和假设模态方法建立了末端柔性的两臂漂浮基空间机器人的非线性动力学方程。

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A new asymptotic numerical method for nonlinear dynamic equations was proposed. In this method, the homotopy perturbation method was improved by using the precise integration technique.

利用精细积分技术对同伦摄动方法进行了改进，构造了一种求解非线性动力学方程的新的渐近数值方法。

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