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.
出处
《力学学报》
EI
CSCD
北大核心
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
关键词
刚体动力学
多体动力学
航天器
姿态动力学
dynamics of rigid body, multibody dynamics, attitude dynamics ofspacecraft
