悬空树状刚体系统动力学方程应用

本文简述了R.E.Roberson, J.Wittenburg推出的关于用球铰连接的刚体系统动力学方程.作者根据该方程编写了计算程序.该程序功能是:给定系统初瞬时的姿态和各刚体之间的相对运动,计算出系统质心和主块质心的位置及速度的变化规律,各刚休的相对角速度、绝对角速度、布里恩角和布里恩角对时间的一阶导数的规律等.将该程序应用于人体运动分析时,可帮助教练员论证设计动作的可行性.作者用该程序计算了一实例.对运算结果所作的扼要分析,表明该程序是行之有效的.

Application of Dynamic Equation for Suspended Tree-Structure

Following the introduction of the dynamic equation for rigid body system connected by ball-and-socket joints derived by R. E. Roberson and J. Wittenburg,position and velocity of mass center of the system, relative angular velocity and absolute angular accelaration, Bryant angles among the rigid bodies, and the derivative of the angles with respect to time are computed with the program developed by the author for given posture and relative motion among the rigid bodies at the initial moment. Finally an example is given to show the validation of the method used in the program.