关于刚体系统的单侧约束运动

On Unilaterally Constrained Motions of Rigid Bodies Systems

本文研究了一大类刚体系统的单侧约束运动的局部和整体性质．主要结论是；局部地，这类系统的运动相当于某带过黎曼流形上的质点的运动；整体地，在能量守恒的假定下．这类系统相当于某带边黎曼流形上的台球系统．

In this paper, the unilaterally constrained motions of a large class of rigid bodies systems are studied, both locally and globally. The main conclusion is that, locally, such a system behaves like a particle in a Riemannian manifold with boundary; globally, under the assumption of energy conservation, the system behaves like a billiard system over a Riemannian manifold With boundary.