By Lagrange dynamic equations, the dynamic model of the simplified biped is given respectively in the period of single-foot support and double - foot support, and this model is easy to control.
运用拉格朗日动力学方程对简化的机器人模型分别在单、双脚支撑期进行了动力学建模，得到了一个便于控制的动力学模型。
By the Lagrange methods, the dynamic equations of the moving platform, the linkages, and the driven legs were calculated respectively, and the dynamic model of the parallel robot was established.
应用拉格朗日方法分别对运动平台、连杆和驱动杆进行动力学计算，建立了该并联机器人的动力学模型。
A new model of spatial flexible beam element is proposed. The dynamic equation of the spatial flexible beam element is derived based on the finite element theory and Lagrange equations.
建立一种空间有限元梁单元新模型，基于有限元法和Lagrange方程导出有限元梁单元的运动微分方程。
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