＜正＞Based on constructing programmed constraint and constraint perturbation equation, a kinematics and dynamics numerical simulation model is established for virtual mechanism, in which the difference scheme guarantee precision in simulation procedure and its numerical solutions satisfy programmed manifold stability. A crank-piston mechanism in a car engine, a steering mechanism and a suspension mechanism are simulated in a virtual environment, then comparing the simulation results with those obtained in ADAMS under the same circumstances proved the solver valid.
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