%0 Journal Article
%T DYNAMIC ANALYSIS OF CONSTRAINED MULTIBODY SYSTEMS IN RIEMANNIAN CONFIGURATION SPACE<br>黎曼位形空间中约束多体系统的动力学分析
%A Shui Xiaoping
%A <br>水小平
%J 力学学报
%D 1997
%I 
%X The dynamic problem of constrained multibody systems in Riemannian configuration space is researched. The orthonormal bases of normal subspace and tangent subspace of the system manifold are constructed adopting the singular value decomposition of the constraint matrix and a modified Gram-Schmidt process. The dynamic equations of the system are projected along the dual bases, and new formulas of the system dynamic response are obtained. A numerical analysis method is also given. A numerical example is presented.
%K dynamics
%K multibody system
%K Riemannian configuration space
%K projection equation
%K numerical analysis<br>动力学
%K 多体系统
%K 黎曼位形空间
%K 投影方程
%U http://www.alljournals.cn/get_abstract_url.aspx?pcid=6E709DC38FA1D09A4B578DD0906875B5B44D4D294832BB8E&cid=5D344E2AD54D14F8&jid=4100DA4A1A3BA1B0CE5AD99AE1DFB420&aid=AE6D6FBC5E5081AC493ED4591F8C875B&yid=5370399DC954B911&vid=771469D9D58C34FF&iid=B31275AF3241DB2D&sid=B37ED91D1227CC95&eid=8D71AF42ACD39979&journal_id=0459-1879&journal_name=力学学报&referenced_num=0&reference_num=6