树形多刚体系统动力学方程

本文提出描述联结成树形多刚体系统位置与排列的“位形图”.在不需要引入“增广体”和“子系统”等概念的情况下,本文利用“位形矩阵”研究了树形多刚体系统的运动,并推导出其动力学方程.树形多刚体系统的动态参数与其结构的密切关系在这样的动力学方程中明显地表示出来.

Dynamical Equations for Treeshaped Multi-Rigid-Body Systems

In this paper, the "Configuration Graph" for a treeshaped system is brought, which presents the position and the arrangement of an arbitrary number of interconnected rigid bodies. By means of "Configuration Matrix" this paper analyses the motion of treeshaped multi-rigid-body systems and derives their dynamical equations while it is not necessary to bring out such ideas as "Augmented-Body" and "Subsystem". In such dynamical equations, dynamical parameters of a treeshaped multi-rigid-body is closely associated with its configuration matrix.