带伸展柔性附件航天器的动力学方程是刚-柔耦合的时变非线性动力学方程，用传统方法求解其动力学响应时会遇到很大的困难。

The dynamic equation of the spacecraft with extensional flexible appendages system is time variable and nonlinear, so it is very difficult to solve this kind of equation with traditional methods.

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要想拉出粗细不同的大宽、韭叶、毛细、荞麦棱子，不但要臂力过人，对力道的控制还要刚中带柔。

To pull the dough into noodles of different thickness, a chef needs to have extraordinary strong arms and also exquisite skills in controlling his strength.

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研究带中心刚体的作大范围运动的空间曲梁的刚-柔耦合动力学。

In this paper, the coupling dynamics of a Timoshenko beam attached to a central rigid body is investigated.

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