摘要
通过建立树形刚体系统的层次表示,推导出了用Kane方法建立该系统动力学方程中的递推计算公式,从而能有效地提高Kane方法的计算效率。
By giving a stratified representation of the rigid body system having tree structure , the recursive formulation in the Kane method for the establishment of the dynamic equations of the system are derived . The computational efficiency of the Kane method can thus be increased eifectively .
出处
《北京理工大学学报》
EI
CAS
CSCD
1990年第4期96-101,共6页
Transactions of Beijing Institute of Technology
关键词
刚体系统
动力学
KANE方法
递推
dynamics / main chain , branch chain , sub - branch chain , Kane method .
