含闭合链的多刚体系统的动力学分析  

Dynamical Analysis of Multi-rigidbody Systems with Close Chains.

作　　者：章定国[1] 李德昌[1] 

机构地区：[1]南京理工大学理学院

出　　处：《南京理工大学学报》1994年第1期7-11,共5页Journal of Nanjing University of Science and Technology

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。

关 键 词：闭合链 多刚体 动力学 

分 类 号：O313.3[理学—一般力学与力学基础]