自由刚体运动在力螺旋运动上的分解

Separate Resolution of Free Rigid Body Motion on Wrench Motion

在一般教科书上， 自由刚体的运动通常分解为自由刚体随一点的平动和对该点的定点运动。文中将自由刚体运动分解为三个直角坐标轴上的力螺旋运动，

The rigid body motion was generally resolved into the parallel motion with an assigned point and the point fixed motion toward the point. This paper presents the separate resolution of free rigid body motion into tree wrench motions. The equations of the velocity and the acceleration of the wrench motions are also qiven.