In view of the rigid link flexible joint, the industry mechanical arm which actuates by the flexible planet gear, this paper proposed one kind of new modeling and the computational method.
针对带刚性连接挠性接头、以柔性行星齿轮驱动的工业机械臂，提出了一种新的建模和计算方法。
The final part looks at the magnet force, including how to animate it, and how to link its position to a rigid body that is being simulated.
最后部分着眼于磁铁的力量，包括如何制作动画，以及如何连接它的位置，一个刚体正在模拟。
The effectiveness of the method is demonstrated through simulation of two flexible-link and flexible-joint 3R robots manipulating a rigid load.
文中就两个具有柔性关节和柔性臂的3R机器人协调操作刚性负载为例，验证了本方法的有效性。
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