Have studied the dynamics Lagrange method of many rigid body more systematically, namely the many rigid body dynamics modeling method to adopt relative coordinate.

比较系统地学习了多刚体动力学的拉格朗日方法，即采用相对坐标的多刚体动力学建模方法。

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Because BEM has an advantage in dealing with a rigid or flexible joint, its application in modeling and analysis of mechanical system plays an important part.

而边界元法对于处理机械系统中的刚性和柔性结合部比较方便，因此，运用边界元法对机械系统零、部件及整机进行建模和解析具有非常重要的意义。

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The model is comprised of the general rigid-body equations considering apparent mass and the modeling method of suspension system based on the assumption of "equilibrium points".

建立了这类系统的动力学模型，包括考虑附加质量的一般刚体动力学方程和基于“平衡点”假设的吊挂系统建模方法。

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