Dynamic analysis flow Dynamic analysis Solve 9→ Φg 牙 → Inverse dynamic analysis Solve Φ=0Φi=v→ q,9 Solve ΦD,i=YΦ，'九=2-Mi 〉 i,2 Equilibrium analysis Φ，=[匝，中] Solve Φ元=2，Φ，1=2，之q,九Dynamic analysis flow Dynamic analysis Solve                    M  q Q q q  0 T        q       q q  Inverse dynamic analysis Solve  q   q  Q Mq q      T q,  Solve q v   0  q   q, q Equilibrium analysis    q   v  u A v A T u T Solve  u   Q   v   Q q, 