完全笛卡尔坐标描述的多体系统动力学  

ON DYNAMICS OF MULTIBODY SYSTEM DESCRIBED BY FULLY CARTESIAN COORDINATES

作　　者：刘延柱[1] 

机构地区：[1]上海交通大学工程力学系

出　　处：《力学学报》1997年第1期84-94,共11页Chinese Journal of Theoretical and Applied Mechanics

基　　金：国家自然科学基金;博士点专项科研基金

摘　　要：用完全笛卡尔坐标描述多体系统的运动学和动力学在提高计算效率方面有突出优点．导出用完全笛卡尔坐标表示的刚体及多体系统的动量和动量矩的解析式，给出与之对应的广义惯量矩阵概念，建立无力矩状态下用完全笛卡尔坐标描述的多体系统动力学的一阶微分方程组。The formulation of kinematics and dynamics of multibody system basedon the fully Cartesian coordinates has an important advantage incomputational efficiency. In present paper the analytical expression oflinear and angular momentums of rigid body and multibody system in fullyCartesian coordinates and the coresponding generalized inertia matrix are given. The dynamics of a torque-free multibody system described by the fully Cartesian coordinates in the form of differential equations of first order is formulated and can be used for the analysis of attitude motion of spacecraft.

关 键 词：刚体动力学 多体动力学 航天器 姿态动力学 

分 类 号：V412.42[航空宇航科学与技术—航空宇航推进理论与工程]