摘要
本文给出一个在平面曲线滚道上运动的二轮系统,然后应用闭环结构多体法理论推导出其运动方程。而用古典力学方法求解这类问题是十分困难的。
In This paper, a two -- wheel system moving in a plane on a non-rectilinearpath is presents, thereafter, the equations of its motion are derived by means ofmultibody approach of closed -- loops configuration. If, however, the problem issolved by classical methods, then it will be very difficulty.
关键词
刚体动力学
平面滚动
多体法
closed loop configuration
multibody approach
augmented multibody
topological tree Structure
D' Alembert's principle
