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1·In this paper the governing equations of flexible manipulators are derived, which are nonlinear simultaneous differential equations of joint variables and link elastic modal coordinates.

本文给出了一般开链弹性机器人机构动力学方程。该方程是由关节广义坐标和杆件模态坐标联立的非线性微分方程组。

2·The steady heat-conduction differential simultaneous equations of multicomposite plate with nonuniform generation are solved by the superposition principle.

用叠加原理求解多层非均匀内热源组合平板稳态导热微分方程组，得出热流量分布公式和温度公式。