摘要
本文全面地评述了四元数方法及其在多体系统运动学和动力学中的应用,指出四元数具有其它各种定位参数和变换算子的综合优点和综合功能,不仅适用于多刚体系统。
The application of quaternion in multibodies mechanics is reviewed in this paper. Quaternion has the combined advantages and funetions of other positional parameters and transformation algorithms. It is applicable both to the systems of rigidbodies and flexible multibodies.
基金
航空航天部科学基金
关键词
四元数
多体运动学
多体动力学
quaternion, positional parameter, transformation algorithm, multibodies kinematics, multibodies dynamics
