通用多体动力学理论手册(um)

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1、UNIVERSALMECHANISM7.0MechanicalSystemasanObjectforModelingUser’smanual2012Generalnotions,definitionsandmathematicalmodelsareconsideredinthissectionoftheuser’smanual.ThechaptercanbeconsideredasascientificintroductioninUMUniversalMechanism7.02Chapter2.Technicalmanual1.MODELINGMECHANICALSYSTEMS.......

2、.................................................................................42.RIGIDBODYSYSTEMS..............................................................................................................53.JOINTS................................................................................

3、......................................................103.1.Connectivityofsystemsanddefinitionofajoint.........................................................103.2.Descriptionofjoints......................................................................................................123.2.1.Trans

4、lationalandrotationaljoints......................................................................................................123.2.2.Sixd.o.f.joint....................................................................................................................................143.2.3.Generali

5、zedjoint...............................................................................................................................163.2.4.Quaternionjoint.................................................................................................................................193.2.5.Inte

6、rnalbodyjoint.............................................................................................................................203.2.6.Weightlessrodconstraint...................................................................................................................213.2.7.Mates..

7、..............................................................................................................................................223.2.8.Conveljoint.............................................