DYNAMICAL EQUATIONS FOR TREESHAPED MULTI-RIGID-BODY SYSTEMS

In this p Aper, 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.