This method is to compare the general motion of a rigid body with the force systems in space and the central axis equation of the force systems in space has been derived beforehand.

这个方法就是将刚体一般运动与空间一般力系进行类比，而一般力系的中心轴方程是巳知的。

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The movement of multi-rigid-body system interconnected by smooth hinge moving in space and plane are deeply studied with the discrete time transfer matrix method of multibody system.

深入探讨多体系统离散时间传递矩阵法对平面、间刚体光滑铰多体系统运动响应的研究。

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