摘要
运用现代微分几何方法，研究一般约束力学系统约束嵌入型的动力学方程的整体几何表述问题．首先，构造约束系统相空间上的非完整联络；其次，给出经典ｄδ交换关系的几何意义；最后，构造约束流形上的基本２形式，得到广义Ｃｈａｐｌｙｇｉｎ
The advanced differential geometry was applied to study the dynamic equation and its holonomic geometrical expression of the restricted embedded type in the general restricted mechanics systems.Firstly,the nonholonomic connection in the phase space of the restricted systems was constructed.Secondly,the geometrical significance of the classical d δ interchange relation was given.Finally,the fundamental 2 form in the restricted manifold was constructed.The holonomic geometrical expression of the generalized Chaplygin equation was obtained.
关键词
约束子流形
非完整联络
Chaplygin方程
Restricted filial manifold
Non holonomic connection
Curvature
d δ interchange relation
Fundamental 2 from
