| 树形带球铰的多刚体系统动力学方程的建立方法 |
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| 引用本文： | 宋培林,孙序梁.树形带球铰的多刚体系统动力学方程的建立方法[J].力学学报,1990,22(1):95-98. |
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| 作者姓名： | 宋培林 孙序梁 |
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| 作者单位： | 哈尔滨工业大学八系 |
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| 摘 要： | 本文提出了一种建立树形带球铰多刚体系统动力学方程的新方法,运用约束系统动力学研究成果,提出了广义刚体的概念以代替多刚体系统的子系统,并借助于广义刚体的不断扩充,求得了多刚体系统动力学方程建立的递推方法,该方法简单直观,几何概念清楚,并允许多刚体系统的扩充,且便于进行计算机符号处理。
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| 关 键 词： | 多刚体系统 刚体 动力学方程 |
THE ESTABLISHMENT OF THE GENERAL DYNAMIC EQUATIONS OF TREE-STRUCTURE RIGID BODIES SYSTEM WITH BALL JOINTS |
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| Song Peilin,Sun Xuliang.THE ESTABLISHMENT OF THE GENERAL DYNAMIC EQUATIONS OF TREE-STRUCTURE RIGID BODIES SYSTEM WITH BALL JOINTS[J].chinese journal of theoretical and applied mechanics,1990,22(1):95-98. |
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| Authors: | Song Peilin Sun Xuliang |
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| Institution: | 8th Department Harbin Institute of Tech. |
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| Abstract: | A new method of establishing the dynamic equations of the multi-rigid-body system with tree-structure and the ball-joints is proposed. With the help of the dynamics of constrained system and the differential geometry, the concept of "generalized body" is put forward to replace the sub-system of the multi-rigid body system. By the extension of the generalized body, the recursive algorithm of the establishment of the dynamic equations of the constrained system is derived. |
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| Keywords: | dynamics multi-rigid-body system generalized body generalization |
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