三轮台桌多刚体系统Routh方程

Routh Equation for Multi-Rigid Bodies System of Tri-Wheel Table

建立了三轮台桌非完整系统用广义速度独立的广义坐标表示的约束方程，导出该系统的Ｒｏｕｔｈ方程，并对其简化形式及某些结果进行了讨论。利用动轴理论证明了Ｒｏｕｔｈ方程中入乘子的物理意义。

The constraint equations for a non-holonomic system tri-wheel table areconstructed in terms ofgeneralizedcoordinates with independent generalized velocities.Onthis basis Routh equations of this system are deduced.Some simplified forms are also dis-cussed.The physical medning ofλfactors in Routh equations is obtaind by employing movingaxis theory.