求翻译：On the basis of a complete geometric approach, a multi-body model using ADAMS have been built.The 50 contacts (sphere-to-sphere, sphere-to-plane,sphere-to-torus) have been treated with specific tools added to the ADAMS library. Such an approach permits the introduction of clearance and friction. The validation of contact force results in comparison with the existing computation and measurement results of the literature leads to a reliable model usable for the secondary torque calculations. Model secondary torque results have been compared with measurements already existing in the literature and also to new measurements done on an industrial test bench with a satisfying agreement. Compared with previous papers restricting their approach to bending angle consideration only, the influence of friction and power transmission sign has been shown. The sophistication level of the model allows the evaluation ofMzR6 torque identified as a possible acoustic beat source with the engine vibration. According to the measurements, the MzR6 level is found to be rather low with 1.6Nm for a 300Nm input torque at a 6是什么意思？

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