摘要
本文简述多刚体系统动力学的建模方式，利用D’Alembert原理导出多刚体系统动力学普遍方程，并综述Roberson—Wittenburg方法，利用图论中某些概念描述多刚体系统的结构特征，引进关联矩阵和通路矩阵，导出树形系统动力学方程的一般形式。
This paper briefly discusses the analytical method of multirigid-body-system dynamics and derivesits general equation with the help of D'Alembert principle. It summarizes Robberson-Wittenburg'smethod, describes the structure characteristics of systems of rigid bodiges with some concept of graphtheory, and introduces incidence matrix und path matrix. Finally, the dynamical equation of tree shapedstructure system is inferred.
出处
《益阳师专学报》
1994年第6期40-45,共6页
Journal of Yiyang Teachers College
关键词
多刚体系统
动力学方程
图论
关联矩阵
通路矩阵
system of rigid bodies, dynamical equation, graph theory, incidence matrix, path matrix
