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应用Newton-Euler法为SIWR-Ⅱ型水下作业机械手建立了动力学方程,并对水作用力的影响进行了定量的分析,同时,还编程计算给出了各关节所需要的关节力和力矩。
The Newton-Euler method was used to establish a dynamic equation for SIWR-II under-water manipulator. The influence of water forces was quantitatively analyzed. At the same time, the joint forces and moments .