自由多刚体系统主体动力学方程及通用程序

本文讨论由n 个刚体铰接成任意树形的多刚体系统.在系统处于腾空或失重状态,除主体外的各刚体受控的情况下,导出了描述该系统主体姿态的动力学方程.利用四元素描述主体的姿态,该方程是由4个一阶方程组成,并推导出标准形式.由该方程建立的数值积分通用程序只要求输入一组描述系统的基本参数及邻接刚体相对运动控制规律.文末给出了利用该程序于运动生物力学仿真研究的例子.

Dynamical Equations and User-Oriented Program for Main Body in Multirigid-Body Systems

A system with n rigid bodies hinged,arbitrarily is considered inthis paper.The dynamical equations for the main body in the system are estab-lised and formularized when the system is in a state of weightlessness or in airand the motions of other bodies of the system are controlled.The equationsconsist of four differential equations of first order in terms of the Euler quater-nion describing the attitude of the body.A user-program for the numericalintegration of the equations is developed which only requires the input of thedata of the basic parameters discribing the system and relative motions betweencontiguous bodies.Finally,this paper gives an example where the program isused in biomechanics.