In this paper, we use fully Cartesian coordinates to describe the position and rigid body form of a mechanical system, then establish its mathematical models for kinematic and dynamic analysis,a related simulation software is developed.

• 用完全笛卡尔坐标描述机械系统的刚体位形 ,导出机械系统的运动学和动力学数学模型 ,研制了相应的仿真软件。