5.2 � � � � Ĺ � � շ � � �

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5.2.1 � � � � ṹ � � � �

� � � � Ľ ṹ � � � � � � Ҫ � � � � � � � � � � � � � coffins

(� � � �. � � � � � �. � � � � � � � �, gears, gearboxes 1) � � � � � � � � � � ɺ ͻ � � � � � � �

� � � � � � � � � � � Ľ ṹ � � � ֶ � � � � � � � � � � � � � � ϼ � � Է � � � � � � � � � � � һ Щ � � � � � � � � � � � � alpha � � � � � ɵ ġ � � � � � � � � � � � � � � � Բ � � � � � frame Բ ׶ � � � � � ƽ � � ȣ � � � � alpha � � � � � Ҫ � � � � � � � frame � � � � � ߳ � � alpha � � frame Բ � � � chuan � � � � � 棩 � ȡ � � � � � � � ṹ � � � � ʱ � � � � � ݻ � е � � � � � ͬ � � � � � � � � � gamma � � � � � ṹ � ϵ � � ص 㣬 � Ϳ � ѡ � � � � � � � � � � Ӧ � ļ ӹ � � � � � � ͼ ӹ, � � ߣ � � � � � � � Բ � � � � ͨ � � � ɳ � � � � � ĥ � � � ӹ � � � � ڿ ױ � � � � � ͨ � � � ꡢ � � � � � ¡ � � ۺ � ĥ � � � ȼ ӹ � � � � � � � � a

� � е � � � � � ͬ � � � � � � � � � gamma � � � � � ṹ � ϵ � � ص 㡣 � ڻ � е � � � � � У � ͨ � � � � � � � � ṹ � ͹ � � չ � � ̵ � � � � � � ԣ � � � � � � � � � � � � � �, Ϊ � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � (GEARS) � � � � � � Ͳ � � � � � � � � ȡ �

(2) � � Ҫ � � � � � � � Ҫ � � � � � � � �

� � � � � � � � � � ӹ � � � � � Ҫ � � IJ � ͬ � � � � � Խ � � � � � ļ ӹ � � � � Biao � � Ϊ � � Ҫ � ӹ � � � � � ʹ � Ҫ � ӹ � � � � tsou � � � � � � � � � � � ڹ � � �, � � � ⶨ ʱ � � � � � � � � � eta ֿ � � Ա � ֤ � � Ҫ � � � � ļ ӹ � � � � ȡ �

(3) � � � � Ľ ṹ � � � � � �

� � argument � � � � Ľ ṹ � � � � � � � � ָ � � � � � � � � � ʹ � � Ҫ � � � ǰ � � � £� � � � � � � � � � Ŀ � � � � Ժ ; � � � � ԡ � � � � � � � ͬ � � � � � � � � � ṹ � � � � � Կ � � � � seem ܴ � � � 졣 � � argument � ṹ � � � � � Ժ a � � � ָ � � � � � й � � � � � � � � £� � � � ܷ � � � � � � � � � � н ϵ ͵ � � � � � ɱ � � �