多刚体系统的外碰撞动力学方程  

The Equations of External lmpacted Dynamics between Multi-Rigidbody Systems

作　　者：章定国[1] 

机构地区：[1]南京理工大学应用力学系,南京120094

出　　处：《应用数学和力学》1997年第6期551-555,共5页Applied Mathematics and Mechanics

摘　　要：本文讨论了两个多刚体系统之间相互碰撞的动力学问题，给出了碰撞冲量和广义速度增量已经解耦的，且适合于计算机程式求解的外碰撞动力学模型，该模型具有实用价值。This paper discusses the problem of impact dynamics between two multirigidbody systems, and presents the mathematical model of this kind of impact problem. In this model the impact impulses at collision points are not coupled with the increments of the velocities, and they are also suitable for computer coding. So the model obtained in this paper is of practical value.

关 键 词：多刚体系统 碰撞 动力学 冲量 

分 类 号：O313.4[理学—一般力学与力学基础]