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本文以三自由度机械臂动力学问题用 Kane 方程求解的过程,说明 Kane方程是工程中求解机械臂一类的多刚体系统动力学的实用而简便的好方法。
In this paper, we use the Kane equation to solve the dynamics problem of a three-degree-freedom manipulator, which shows that the Kane equation is a practical and simple method to solve the dynamics of a multi-rigid-body system.