多刚体系统动力学方程的缩减

用嵌入约束法进行速度变换,对用笛卡尔绝对坐标描述的多刚体系统动力学引入铰链相对坐标,得到兼用两类坐标描述的动力学模型.这种方法列写公式容易,而且计算效率高。给出了一个说明性例题。

Systematic Reduction of Dynamic Equations for Multi-Rigidbody Systems

Embedding constraint method is applied to perform velocity transformations. A set of relative joint coordinates is introduced in solving problems on dynamics of multi-rigidbody systems described with absolute Cartesian coordinates. The resultant dynamics modeling using both types of coordinates is then obtained. In this way the formulation of equations is straightforward and numerical solution is more efficiently performed. Finally, an illustrative example is given.