多刚体系统的外碰撞动力学方程

The Equations of External lmpacted Dynamics between Multi-Rigidbody Systems

本文讨论了两个多刚体系统之间相互碰撞的动力学问题，给出了碰撞冲量和广义速度增量已经解耦的，且适合于计算机程式求解的外碰撞动力学模型，该模型具有实用价值。

This paper discusses the problem of impact dynamics between two multirigidbody systems, and presents the mathematical model of this kind of impact problem. In this model the impact impulses at collision points are not coupled with the increments of the velocities, and they are also suitable for computer coding. So the model obtained in this paper is of practical value.