In order to simplify calculating, concept of virtual velocity and virtual power are led into.
为了简化计算, 引入了虚速度、虚功率的概念,并推导出虚功率原理.
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A quasi - static model of a 3 - DOF underactuated finger is built based on virtual power theory.
根据虚功原理建立了3 自由度 欠驱动手指的准静力学模型.
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