| 受非完整约束多刚体系统的动力学方程 |
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| 引用本文： | 张健. 受非完整约束多刚体系统的动力学方程[J]. 贵州工业大学学报(自然科学版), 1996, 0(4) |
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| 作者姓名： | 张健 |
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| 作者单位： | 贵州工学院基础部 |
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| 摘 要： | 本文利用速度空间的概念，将多刚体系统所受的完整和非完、整约束作为速度空间中的嵌入流形，由Ｊｏｕｒｄｉａｎ原理导出了以流形曲线坐标表示的受完整和非完整约束多刚体系统的动力学方程，并利用本文结果讨论了一个平面开链机械臂动力学方程的建立过程。
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| 关 键 词： | 多则体系统，非完整系统，微分流形 |
ON DYNAMIC EQUATIONS OF NONHOLONOMIC MULTIPLE RIGID BODY SYSTEM |
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| Zhang Jian. ON DYNAMIC EQUATIONS OF NONHOLONOMIC MULTIPLE RIGID BODY SYSTEM[J]. Journal of Guizhou University of Technology(Natural Science Edition), 1996, 0(4) |
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| Authors: | Zhang Jian |
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| Abstract: | in this paper,the concept of velocity space is introduced. Then,the holonomic and nonholonomic constrains of multiple rigid body system are regarded as the embedded differential manifold. A new method for construction of dynamic equations of multiple rigid body system is suggested on thebasis of Jourdian's principle. Finally,the method stated in this paper is demonstrated through an example of a manipularpulator with three rigid links. |
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| Keywords: | multiple rigid body systen nonholonomic system differential manifold |
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