RW法是一种基于图论的多刚体建模方法。RW方法建立万向轴模型（包括演示动画程序）

_simu为主程序、_ini初始参数、_end画图

一门课的作业，希望有人能用得上哈：）-RW is a method based on graph theory modeling of multi-body methods. RW method to establish universal shaft model (including the animation program) _simu the main program, _ini initial parameters, _end drawing a course of work, hoping that someone that can use ha:)