【摘要】 本文继J.wittenburg,之后用图论的观点分析树形多刚体系统的结构,提出重叠子树结构的力学模型及脉络图定义,改进了增广体的概念从而使系统可以进行动力学等效分解。在规定一些符号及运算规则以后使用紧凑的矩阵形式导出树形多刚体系统动力学普遍方程组。在引进铰链矩阵以后系统的约束和运动学关系都写成矩阵形式,从而导出以广义坐标表出的动力学方程组,便于进行数值计算的程序设计。更多还原

【Abstract】 Following Wittenburg[2], and utilizing the viewpoint of graph theory, this paper analyses the structure for a treeshaped system of an arbitrary number of interconnected rigid bodies. It brings up a dynamical model of overlapping subtreeshaped structure and a definition of the so-called artery graph and modifies the idea of augmented body so that the equivalent dynamical decomposition of the system can be carried out.By specifying certain symbols and rules of calculation, this ariticle sets up generalized dynamical equations for the tree-shaped multi-rigid-body system in a rather compact matrix form.Thus after introducing the hinge matrix both the constraint relations and the kinematics of the system are written in matrix form. Finally the dynamical equations are expressed in terms of generalized coordinates so that they can be used for computer programming.更多还原