2HAUG E J.Computer aided kinematics and dynamics of mechanical system(Vol.1:basic method)[M].Boston,Mass.,USA:Allyn and Bacon,1989.
3HAUG E J,YEN J.Generalized coordinate partitioning methods for numerical integration of differential-algebraic equations of dynamics[C]//Proceedings of the NATO Advanced Research Workshop on Real-time Integration Methods for Mechanical System Simulation.Berlin,Germany:Springer-Verlag,1990:97-114.
4EBERHARD P,SCHIEHLEN W.Hierarchical modeling in multi-body dynamics[J].Archive of Applied Mechanics,1998,68(3):237-246.