摘要
根据刚体运动学中的欧拉定理：刚体绕定点运动时的任何位移，可以绕通过定点的某一轴转动一次实现。本文用矢量绕与其相交的轴的转动公式及动坐标系绕原点转动时的坐标变换公式，导出了刚体绕直角坐标系的三个轴转动时对应的等效转轴的计算方法及转角的计算方法。
According to the Euler′s law in dynamics of rigid body, when a rigid body moves about a fixed point, its any displacement can be realized by once rotating around some axis. In the paper, by the formula of a vector rotating around an axis which crosses over it and the transformation of the rectangular coordinates when rotating around the primary point, formulae to calculate the corresponding equivalent axis and angle of rotation of the rigid body are developed, when it rotates respectively around their coordinate axes of the rectangular coordinates.
基金
国家自然科学基金
关键词
转轴
转角
刚体运动学
等效转轴
rigid body, axis of rotation, angle of rotation
