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本文研究了树形结构多刚体系统点的速度与加速度问题。按照系统结构的脉络图构造了所谓“脉络矩阵”。正如关联矩阵在描述系统角速度与角加速度时所起的作用一样,脉络矩阵对于描述系统点的运动有重要意义。通过脉络矩阵系统点的速度与加速度可以简单地用矩阵表示式给出。
This paper studies the speed and acceleration of multi-rigid-body system with tree structure. According to the structure diagram of the system structure of the so-called “pulse matrix.” Just as the incidence matrix plays a role in describing the system angular velocity and angular acceleration, the matrix of the pulse matrix is of great importance for describing the movement of the system point. The velocity and acceleration of a point by a venous matrix system can be simply expressed in matrix notation.