摘要
该文详细研究了含有闭合链的复杂多刚体系统的动力学问题，建立了Ｌ－Ｅ法形式的动力学方程，并且运用奇异值分解法对其进行了缩并求解。该文的工作丰富了多刚体系统动力学建模理论和方法。
This paper expounded the dynamical problem of com-plex multi-rigidbody systems with close chains,formulated dynamical equations in the form of L-E and solved the problem of reducing the equations of motion for a class of constrained dynamical system to their minimum dimension with singular value decomposition. The work done in this paper enriches the dynamical modeling theories and methods of muIti-rigidbody systems。
出处
《南京理工大学学报》
CAS
CSCD
1994年第1期7-11,共5页
Journal of Nanjing University of Science and Technology
关键词
闭合链
多刚体
动力学
close chain
multi-rigidbody
dynamics
