D’Alembert定理中的旋转轴和旋转角度

The Rotation Axis and Angle in the Theorem of D' Alembert

一般运动分解为先平移,求得二重点之后,再旋转;通过对空间及矩阵秩的分析,证明了旋转轴的惟一性。并对射影几何中文字描述的达兰倍尔定理[1]建立了解析表达式,给出了过二重点的旋转轴方位和旋转角度的计算公式,使得二个同向不重合的合同形体经过一次旋转达到重合;具有既可以图解,又能精确计算的特点。

Usually resolving motion into parallel motion, then rotating it when the double points were obtained; The analytical expression has been established for D' alemberdrt' s theorem[1] by words in projective geometry through the analysis of space and matrix, it has proved the sole of rotation axis and given the calculation equations of rotation axis position and rotating angle across double points, this made two shaping bodies of alike direction, misalignment coincide by once rotating; The feature is not only graph, but also accurate calculation.