| 非完整树形多刚体系统的动力学方程 |
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| 引用本文： | 王克明.非完整树形多刚体系统的动力学方程[J].南京理工大学学报(自然科学版),1985(1). |
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| 作者姓名： | 王克明 |
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| 作者单位： | 华东工学院理力教研室 |
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| 摘 要： | 本文用Jourdain原理及图论的一些基本概念导出非完整树形多刚体系统动力学方程,当约束是完整的且广义坐标相互独立时则得到Wittenburg的动力学方程,最后也由该原理得到Kane方程。
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| 关 键 词： | 树形 刚性结构 动力学方程 |
Formulation of Dynamical Equations for Nonholonomic Tree-Shaped Multi-Rigid-Body Systems |
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| Wang Keming.Formulation of Dynamical Equations for Nonholonomic Tree-Shaped Multi-Rigid-Body Systems[J].Journal of Nanjing University of Science and Technology(Nature Science),1985(1). |
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| Authors: | Wang Keming |
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| Institution: | Wang Keming |
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| Abstract: | This paper derives the generalized dynamical equations fornonholonomic tree-shaped multi-rigid-body systems with Jourdain-Bertrand'sprinciple. when they are used to holonomic systems and the generalized coor-dinates are independent the equations are same as the equations derived by J.Wittenburg. Finally, Kane's equation is derived with this principle in thepaper. |
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| Keywords: | Trees Rigid Structures Kinetic Equation |
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