吉林大學(xué)-多體動(dòng)力學(xué)講稿2023 《多體動(dòng)力學(xué)》課程講稿 多體動(dòng)力學(xué) 摘要 多剛體系統(tǒng)的位置、姿態(tài)、運(yùn)動(dòng)及受力分析。 目錄 引言................................................................................................................................................................31 矢量........................................................................................................................................................41.1矢量的定義及符號(hào).................................................................................................................41.2矢量的基本運(yùn)算.....................................................................................................................51.3單位矢量的定義和符號(hào).........................................................................................................61.4零矢量的定義和符號(hào).............................................................................................................61.5平移規(guī)定.................................................................................................................................6習(xí)題一....................................................................................................................................................6坐標(biāo)系....................................................................................................................................................7習(xí)題二....................................................................................................................................................8矢量的坐標(biāo)陣和坐標(biāo)方陣.....................................................................................................................8習(xí)題三..................................................................................................................................................10方向余弦矩陣......................................................................................................................................104.1方向余弦矩陣的定義...........................................................................................................104.2方向余弦矩陣的用途...........................................................................................................124.3方向余弦矩陣的性質(zhì)...........................................................................................................14習(xí)題四..................................................................................................................................................16歐拉角..................................................................................................................................................175.1歐拉角的定義.......................................................................................................................175.2歐拉角與方向余弦矩陣的關(guān)系...........................................................................................175.3歐拉角的奇點(diǎn).......................................................................................................................195.4確定歐拉角的幾何法...........................................................................................................20習(xí)題五..................................................................................................................................................21矢量在某參照物內(nèi)對(duì)時(shí)間的導(dǎo)數(shù).......................................................................................................22習(xí)題六..................................................................................................................................................24角速度..................................................................................................................................................24習(xí)題七..................................................................................................................................................26剛體上固定矢量在某參照物內(nèi)對(duì)時(shí)間的導(dǎo)數(shù)...................................................................................26習(xí)題八..................................................................................................................................................28矢量在兩參照物內(nèi)對(duì)時(shí)間導(dǎo)數(shù)的關(guān)系...............................................................................................29習(xí)題九..................................................................................................................................................30角速度疊加原理...........................................................................................................................31習(xí)題十..................................................................................................................................................32角加速度......................................................................................................................................32習(xí)題十一..............................................................................................................................................32 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