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只利用四元数的代数式和三角式，完成了一般条件下空间啮合相对速度的计算，完全不借助其它数学工具。这是试图把四元数方法引入空间啮合原理研究的一种尝试。
Using only quaternion algebra and trigonometry, the calculation of the relative speed of space engagement under general conditions is completed without any additional mathematical tools. This is an attempt to introduce the quaternion method into the study of the principle of spatial meshing.