摘要
用旋量描述的Kane方法研究多体系统的碰撞运动，特别是在强加约束下的碰撞运动．
This paper deals with the collison motion multibody systems,spcially,under im-pulsive constrains,using Kane'S method and dual vectors
关键词
多体系统
强加约束
碰撞运动
旋量
刚体
multibody sytems
impulsive constraints
collison motion
dual vectors
