摘要
长臂托持式机械手传动装置的机构动力学，是用输入构件的运动来表示所有刚体的运动，从而计算出与此已知运动有关的力和力矩，采用向量矩阵法建立有约束刚体动力学方程，并进行程序设计，给出设计实例的数值解。
The transmission gearing mechanism dynamics of the long armed bracket manipulator is researched. This method can calculate the relative force and torque when the motion of the input member is impressed into the motion of the rigid body. The vector matrix method is used to set up the dynamical equations of the constrained rigid body, program design, and output the numerical keys of the actual design model.
