The aim of this paper is to develop an efficient method for decoupling joint and elastic accelerations, while maintaining the inertia coupling between rigid body motion and elastic body deformation.

• 摘要本研究论文的主要目的为发展出的一种深具效率的方法以去除存在于接点加速度与弹性加速度间之耦合，而仍然维持存在于刚体运动与弹性变形间之质量耦合。