spatial rotation

Based on classical dynamical equation on rotation of fluid core Earth, a associated dynamical equation containing both nutation and wobble of Earth rotation have been deduced through introducing motion of nutation frame system with respect to inertial spatial frame.

以经典的液核弹性地球自转动力学理论为基础，通过引入章动坐标系相对惯性空间的运动，建立液核地球极移和章动的联合动力学方程。

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Rotation angle symbol method to identify circuit and branch of spherical four bar is presented in this paper. Finally, the method about application to spatial first group mechanism is elaborated.

最后由空间第一类机构与球面四杆机构的等效性，阐述了将此识别方法应用于第一组空间机构的方法。

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