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| 非完整树形多刚体系统的动力学方程 | |
| 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, 0(1) |
| 作者姓名： | 王克明 |
| 作者单位： | 华东工学院理力教研室 |
| 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。 |
| 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, 0(1) | |
| Authors: | Wang Keming |
| Affiliation: | Wang Keming |
| 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. |
| Keywords: | Trees Rigid Structures Kinetic Equation |
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