变质量非完整系统打击运动的Kane方程

Kane’s Equations for Precussion Motion of Variable Mass Nonholonomic Mechanical Systems

本文建立变质量非完整系统Ｒｏｕｔｈ形式的Ｋａｎｅ方程，并由此导出变质量完整系统和非完整系统打击运动的Ｋａｎｅ方程，其次指出Ｌａｇｒａｎｇｅ形式的打击运动方程与Ｋａｎｅ方程的等价性。最后举例说明新方程的应用。

In this paper,the Kane's equations for the Routh's form of variable mass nonholonomic systems are established.and the Kane's equations for percussion motion of variable mass holonomic and nonholonomic systems are deduced from them. Secondly, the equivalence to Lagrange's equations for percussion motion ana Kane's equations is obtained,and the application of the new equation is illustrated by an example.