| 多刚体系统动力学方程的旋量矩阵表示 |
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| 引用本文： | 钟奉俄.多刚体系统动力学方程的旋量矩阵表示[J].西安科技大学学报,1988(3). |
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| 作者姓名： | 钟奉俄 |
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| 作者单位： | 西安矿业学院理论力学教研室 |
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| 摘 要： | 本文以矢量矩阵表示的旋量给出树型多刚体系统各子系统的牛顿欧拉方程。通过文中定义的切断铰旋量关联阵得到了一般多刚体系统的动力学方程。利用坐标变换直接得出矩阵形式的分量方程。方程中只包含连体矢量和广义坐标,可用来直接求解。
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| 关 键 词： | 多刚体 动力学方程 旋量 |
SCREW MATRIX FORMULATON OF DYNAMICAL EQUATIONS OF RIGID BODY SYSTEM |
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| Zhong Fenge.SCREW MATRIX FORMULATON OF DYNAMICAL EQUATIONS OF RIGID BODY SYSTEM[J].JOurnal of XI’an University of Science and Technology,1988(3). |
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| Authors: | Zhong Fenge |
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| Institution: | Zhong Fenge |
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| Abstract: | In this gaper,the Newtort-Euler equations of motion for all subsystem of tree multi-body system are presented by use of screw represented by matrix with vector elements.The screw incidence matrix of cutting joints is defined.The dynamical equations of general multi-body system are obtained with it.The scalar equations of motion can be obtained directly by use of coordinate transformation.In these equations of motion only body vectors and general coordinates exist.These equations can be solved directly. |
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| Keywords: | multi-body dynamical eguations screw |
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