| 基于转动矩阵下的刚体运动变换理论 |
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| 引用本文： | 刘瑞金. 基于转动矩阵下的刚体运动变换理论[J]. 山东理工大学学报：自然科学版, 2006, 20(2): 7-10 |
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| 作者姓名： | 刘瑞金 |
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| 作者单位： | 山东理工大学,物理学院,山东,淄博,255049 |
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| 摘 要： | 转动是刚体基本运动形式之一,文中建立了刚体基本转动的矩阵,借助并矢计算法详细推导了刚体绕空间任意轴转动的矩阵变换,证明了欧勒转动与绕任意轴转动的等价性,给出了欧勒运动学方程的矩阵变换方法.
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| 关 键 词： | 刚体 转动矩阵 变换 |
| 文章编号： | 1672-6197（2006）02-0007-04 |
| 收稿时间： | 2005-08-29 |
| 修稿时间： | 2005-08-29 |
The matrix transformational theory of the rotation of a rigid body |
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| LIU Rui-jin. The matrix transformational theory of the rotation of a rigid body[J]. Journal of Shandong University of Technology:Science and Technology, 2006, 20(2): 7-10 |
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| Authors: | LIU Rui-jin |
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| Affiliation: | School of Physics, Shandong University of Technology, Zibo 255049, China |
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| Abstract: | Rotation is one of the basic motion of a rigid body. This paper establishes the turning matrix of a rigid body.With the help of the method of coordinate vectors,the matrix transformation of a rigid body about an arbitrary axis is derived,and also,the equivalence between the Eulor's turning and the turning about a arbitrary axis is proved.At the end,the method of matrix transformation of Eulor's kinematics equation is given in this paper. |
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| Keywords: | rigid body turning matrix transformation |
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