摘要
采用绝对坐标定义系统中各刚体的位置，刚体间的运动副及作用在刚体上或刚体间的力，给出了求速度变换矩阵的一般方法．经过约束方程的雅可比矩阵的零空间，用相对坐标建立了多体回路系统的运动微分方程，并进而表示成正则运动方程的形式．
In this paper,absolute coordinates are used to define the position of each body,the kinematic joints between bodies and forces acting on or between bodies. A general formulation of velocity transformation is presented. The differential equations of motion of closedloop multibody systems are firstly established in terms of relative coordinates by means of the mullspace of constraint Jacobian matrix,then,they are derived in the form of canonical equation.
基金
北京理工大学应用基础基金
关键词
回路系统
多体系统
正则运动方程
刚体运动
:dynamics
closed-loop systems
absolute coordinate
relative coordinate
canonical equation
