Then analyze the motion and dynamics ; induce the dynamics equation ; use multiple - step gear estimation and correction to solve the time domain ; use equivalent method of statistical linearization to solve the frequency domain 进行了运动学分析和动力学分析,推导了动力学方程,采用多步gear预估?校正法进行时域求解,采用等效的统计线性化方法进行频域求解。