Dynamical Equations for Treeshaped Multi-Rigid-Body Systems

Wang En-song

Volume 6 Issue 12

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Article Navigation > Applied Mathematics and Mechanics > 1985 > 6(12): 1061-1070

Wang En-song. Dynamical Equations for Treeshaped Multi-Rigid-Body Systems[J]. Applied Mathematics and Mechanics, 1985, 6(12): 1061-1070.

Citation:

Wang En-song. Dynamical Equations for Treeshaped Multi-Rigid-Body Systems[J]. Applied Mathematics and Mechanics, 1985, 6(12): 1061-1070.

Citation:

Wang En-song. Dynamical Equations for Treeshaped Multi-Rigid-Body Systems[J]. Applied Mathematics and Mechanics, 1985, 6(12): 1061-1070.

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Dynamical Equations for Treeshaped Multi-Rigid-Body Systems

Wang En-song

Beijing Institute of Aeronautics and Astronautics, Beijing

Received Date: 1984-10-22
Publish Date: 1985-12-15

Abstract

Abstract

In this paper, the "Configuration Graph" for a treeshaped system is brought, which presents the position and the arrangement of an arbitrary number of interconnected rigid bodies. By means of "Configuration Matrix" this paper analyses the motion of treeshaped multi-rigid-body systems and derives their dynamical equations while it is not necessary to bring out such ideas as "Augmented-Body" and "Subsystem". In such dynamical equations, dynamical parameters of a treeshaped multi-rigid-body is closely associated with its configuration matrix.

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References(5)

References

[1]	Roberson,R.E.and J.Wittenburg,A dynamical formalism of an arbitrary number to the interconnected rigid bodies,with reference to the problem of satellite attitude control,3rd IFAC Conger.(1966),Proc.,London(1968).
[2]	Wittenburg,J.,Dynamics of Systems of Rigid Bodies,(1977).(有中译本,北京航空学院谢传锋译).
[3]	Wittenburg,J.,Dynamics of multibody system,Proceedings of the XVth International Congress of Theoretical and Applied Mechoics (1980).
[4]	周起钊,树形多刚体系统的动力学普遍方程,力学学报,3 (1983).
[5]	张光枢,多刚体系统的运动(待发表).

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