【摘要】 本文用Jourdain原理及图论的一些基本概念导出非完整树形多刚体系统动力学方程,当约束是完整的且广义坐标相互独立时则得到Wittenburg的动力学方程,最后也由该原理得到Kane方程。更多还原

【Abstract】 This paper derives the generalized dynamical equations fornonholonomic tree-shaped multi-rigid-body systems with Jourdain-Bertrand’sprinciple. when they are used to holonomic systems and the generalized coor-dinates are independent the equations are same as the equations derived by J.Wittenburg. Finally, Kane’s equation is derived with this principle in thepaper.更多还原