| 黎曼位形空间中约束多体系统的动力学分析 |
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| 引用本文： | 水小平.黎曼位形空间中约束多体系统的动力学分析[J].力学学报,1997,29(6):755-760. |
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| 作者姓名： | 水小平 |
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| 作者单位： | 北京理工大学应用力学系 |
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| 摘 要： | 在黎曼位形空间中研究了约束多体系统的动力学问题．通过对约束矩阵的奇异值分解和修正的Ｇｒａｍ Ｓｃｈｍｉｄｔ过程构造了系统流形的法向和切向子空间的正交归一化基，将系统的动力学方程沿这双基进行投影，得到了求系统动力学响应的新型公式，给出了其数值分析的一种方法，并举了算例．
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| 关 键 词： | 动力学 多体系统 黎曼位形空间 投影方程 |
DYNAMIC ANALYSIS OF CONSTRAINED MULTIBODY SYSTEMS IN RIEMANNIAN CONFIGURATION SPACE |
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| Shui Xiaoping.DYNAMIC ANALYSIS OF CONSTRAINED MULTIBODY SYSTEMS IN RIEMANNIAN CONFIGURATION SPACE[J].chinese journal of theoretical and applied mechanics,1997,29(6):755-760. |
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| Authors: | Shui Xiaoping |
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| Abstract: | The dynamic problem of constrained multibody systems in Riemannian configuration space is researched. The orthonormal bases of normal subspace and tangent subspace of the system manifold are constructed adopting the singular value decomposition of the constraint matrix and a modified Gram-Schmidt process. The dynamic equations of the system are projected along the dual bases, and new formulas of the system dynamic response are obtained. A numerical analysis method is also given. A numerical example is presented. |
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| Keywords: | dynamics multibody system Riemannian configuration space projection equation numerical analysis |
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