本文仅供学习使用,总结很多本现有讲述运动学或动力学书籍后的总结,从矢量的角度进行分析,方法比较传统,但更易理解,并且现有的看似抽象方法,两者本质上并无不同。
2024年底本人学位论文发表后方可摘抄
若有帮助请引用
本文参考:
黎 旭,陈 强 洪,甄 文 强 等.惯 性 张 量 平 移 和 旋 转 复 合 变 换 的 一 般 形 式 及 其 应 用[J].工 程 数 学 学 报,2022,39(06):1005-1011.
食用方法
质量点的动量与角动量
刚体的动量与角动量——力与力矩的关系
惯性矩阵的表达与推导——在刚体运动过程中的作用
惯性矩阵在不同坐标系下的表达
务必自己推导全部公式,并理解每个符号的含义
机构运动学与动力学分析与建模 Ch00-2质量刚体的在坐标系下运动Part4
H ⃗ Σ M / O F = ∑ i N R ⃗ O P i F × P ⃗ P i F = ∑ i N m P i ⋅ R ⃗ O P i F × ( ω ⃗ F × R ⃗ O P i F ) = ∑ i N m P i ⋅ [ ( R ⃗ O P i F ⋅ R ⃗ O P i F ) ω ⃗ F − ( ω ⃗ F ⋅ R ⃗ O P i F ) R ⃗ O P i F ] = ∑ i N m P i ⋅ [ I ^ J ^ K ^ ] T [ ( [ x O P i F y O P i F z O P i F ] T [ x O P i F y O P i F z O P i F ] ) [ w x P i F w y P i F w z P i F ] − ( [ w x P i F w y P i F w z P i F ] T [ x O P i F y O P i F z O P i F ] ) [ x O P i F y O P i F z O P i F ] ] = ∑ i N m P i ⋅ [ I ^ J ^ K ^ ] T [ [ ( ( x O P i F ) 2 + ( y O P i F ) 2 + ( z O P i F ) 2 ) w x P i F ( ( x O P i F ) 2 + ( y O P i F ) 2 + ( z O P i F ) 2 ) w y P i F ( ( x O P i F ) 2 + ( y O P i F ) 2 + ( z O P i F ) 2 ) w z P i F ] − [ ( w x P i F x O P i F + w y P i F y O P i F + w z P i F z O P i F ) x O P i F ( w x P i F x O P i F + w y P i F y O P i F + w z P i F z O P i F ) y O P i F ( w x P i F x O P i F + w y P i F y O P i F + w z P i F z O P i F ) z O P i F ] ] = ∑ i N m P i ⋅ [ I ^ J ^ K ^ ] T [ [ ( y O P i F ) 2 + ( z O P i F ) 2 ] w x P i F − ( x O P i F y O P i F ) w y P i F − ( x O P i F z O P i F ) w z P i F − ( y O P i F x O P i F ) w x P i F + [ ( x O P i F ) 2 + ( z O P i F ) 2 ] w y P i F − ( y O P i F z O P i F ) w z P i F − ( z O P i F x O P i F ) w x P i F − ( z O P i F y O P i F ) w y P i F + [ ( x O P i F ) 2 + ( y O P i F ) 2 ] w z P i F ] = ∑ i N m P i ⋅ [ I ^ J ^ K ^ ] T [ ( y O P i F ) 2 + ( z O P i F ) 2 − x O P i F y O P i F − x O P i F z O P i F − y O P i F x O P i F ( x O P i F ) 2 + ( z O P i F ) 2 − y O P i F z O P i F − z O P i F x O P i F − z O P i F y O P i F ( x O P i F ) 2 + ( y O P i F ) 2 ] [ w x P i F w y P i F w z P i F ] \begin{aligned} \vec{H}_{\Sigma _{\mathrm{M}}/\mathrm{O}}^{F}&=\sum_i^N{\vec{R}_{\mathrm{OP}_{\mathrm{i}}}^{F}\times \vec{P}_{\mathrm{P}_{\mathrm{i}}}^{F}}=\sum_i^N{m_{\mathrm{P}_{\mathrm{i}}}\cdot \vec{R}_{\mathrm{OP}_{\mathrm{i}}}^{F}\times \left( \vec{\omega}^F\times \vec{R}_{\mathrm{OP}_{\mathrm{i}}}^{F} \right)}=\sum_i^N{m_{\mathrm{P}_{\mathrm{i}}}\cdot \left[ \left( \vec{R}_{\mathrm{OP}_{\mathrm{i}}}^{F}\cdot \vec{R}_{\mathrm{OP}_{\mathrm{i}}}^{F} \right) \vec{\omega}^F-\left( \vec{\omega}^F\cdot \vec{R}_{\mathrm{OP}_{\mathrm{i}}}^{F} \right) \vec{R}_{\mathrm{OP}_{\mathrm{i}}}^{F} \right]}\\ &=\sum_i^N{m_{\mathrm{P}_{\mathrm{i}}}\cdot \left[ \begin{array}{c} \hat{I}\\ \hat{J}\\ \hat{K}\\ \end{array} \right] ^{\mathrm{T}}\left[ \left( \left[ \begin{array}{c} x_{\mathrm{OP}_{\mathrm{i}}}^{F}\\ y_{\mathrm{OP}_{\mathrm{i}}}^{F}\\ z_{\mathrm{OP}_{\mathrm{i}}}^{F}\\ \end{array} \right] ^{\mathrm{T}}\left[ \begin{array}{c} x_{\mathrm{OP}_{\mathrm{i}}}^{F}\\ y_{\mathrm{OP}_{\mathrm{i}}}^{F}\\ z_{\mathrm{OP}_{\mathrm{i}}}^{F}\\ \end{array} \right] \right) \left[ \begin{array}{c} w_{\mathrm{x}_{\mathrm{Pi}}}^{F}\\ w_{\mathrm{y}_{\mathrm{Pi}}}^{F}\\ w_{\mathrm{z}_{\mathrm{Pi}}}^{F}\\ \end{array} \right] -\left( \left[ \begin{array}{c} w_{\mathrm{x}_{\mathrm{Pi}}}^{F}\\ w_{\mathrm{y}_{\mathrm{Pi}}}^{F}\\ w_{\mathrm{z}_{\mathrm{Pi}}}^{F}\\ \end{array} \right] ^{\mathrm{T}}\left[ \begin{array}{c} x_{\mathrm{OP}_{\mathrm{i}}}^{F}\\ y_{\mathrm{OP}_{\mathrm{i}}}^{F}\\ z_{\mathrm{OP}_{\mathrm{i}}}^{F}\\ \end{array} \right] \right) \left[ \begin{array}{c} x_{\mathrm{OP}_{\mathrm{i}}}^{F}\\ y_{\mathrm{OP}_{\mathrm{i}}}^{F}\\ z_{\mathrm{OP}_{\mathrm{i}}}^{F}\\ \end{array} \right] \right]}\\ &=\sum_i^N{m_{\mathrm{P}_{\mathrm{i}}}\cdot \left[ \begin{array}{c} \hat{I}\\ \hat{J}\\ \hat{K}\\ \end{array} \right] ^{\mathrm{T}}\left[ \left[ \begin{array}{c} \left( \left( x_{\mathrm{OP}_{\mathrm{i}}}^{F} \right) ^2+\left( y_{\mathrm{OP}_{\mathrm{i}}}^{F} \right) ^2+\left( z_{\mathrm{OP}_{\mathrm{i}}}^{F} \right) ^2 \right) w_{\mathrm{x}_{\mathrm{Pi}}}^{F}\\ \left( \left( x_{\mathrm{OP}_{\mathrm{i}}}^{F} \right) ^2+\left( y_{\mathrm{OP}_{\mathrm{i}}}^{F} \right) ^2+\left( z_{\mathrm{OP}_{\mathrm{i}}}^{F} \right) ^2 \right) w_{\mathrm{y}_{\mathrm{Pi}}}^{F}\\ \left( \left( x_{\mathrm{OP}_{\mathrm{i}}}^{F} \right) ^2+\left( y_{\mathrm{OP}_{\mathrm{i}}}^{F} \right) ^2+\left( z_{\mathrm{OP}_{\mathrm{i}}}^{F} \right) ^2 \right) w_{\mathrm{z}_{\mathrm{Pi}}}^{F}\\ \end{array} \right] -\left[ \begin{array}{c} \left( w_{\mathrm{x}_{\mathrm{Pi}}}^{F}x_{\mathrm{OP}_{\mathrm{i}}}^{F}+w_{\mathrm{y}_{\mathrm{Pi}}}^{F}y_{\mathrm{OP}_{\mathrm{i}}}^{F}+w_{\mathrm{z}_{\mathrm{Pi}}}^{F}z_{\mathrm{OP}_{\mathrm{i}}}^{F} \right) x_{\mathrm{OP}_{\mathrm{i}}}^{F}\\ \left( w_{\mathrm{x}_{\mathrm{Pi}}}^{F}x_{\mathrm{OP}_{\mathrm{i}}}^{F}+w_{\mathrm{y}_{\mathrm{Pi}}}^{F}y_{\mathrm{OP}_{\mathrm{i}}}^{F}+w_{\mathrm{z}_{\mathrm{Pi}}}^{F}z_{\mathrm{OP}_{\mathrm{i}}}^{F} \right) y_{\mathrm{OP}_{\mathrm{i}}}^{F}\\ \left( w_{\mathrm{x}_{\mathrm{Pi}}}^{F}x_{\mathrm{OP}_{\mathrm{i}}}^{F}+w_{\mathrm{y}_{\mathrm{Pi}}}^{F}y_{\mathrm{OP}_{\mathrm{i}}}^{F}+w_{\mathrm{z}_{\mathrm{Pi}}}^{F}z_{\mathrm{OP}_{\mathrm{i}}}^{F} \right) z_{\mathrm{OP}_{\mathrm{i}}}^{F}\\ \end{array} \right] \right]}\\ &=\sum_i^N{m_{\mathrm{P}_{\mathrm{i}}}\cdot \left[ \begin{array}{c} \hat{I}\\ \hat{J}\\ \hat{K}\\ \end{array} \right] ^{\mathrm{T}}\left[ \begin{array}{c} \left[ \left( y_{\mathrm{OP}_{\mathrm{i}}}^{F} \right) ^2+\left( z_{\mathrm{OP}_{\mathrm{i}}}^{F} \right) ^2 \right] w_{\mathrm{x}_{\mathrm{Pi}}}^{F}-\left( x_{\mathrm{OP}_{\mathrm{i}}}^{F}y_{\mathrm{OP}_{\mathrm{i}}}^{F} \right) w_{\mathrm{y}_{\mathrm{Pi}}}^{F}-\left( x_{\mathrm{OP}_{\mathrm{i}}}^{F}z_{\mathrm{OP}_{\mathrm{i}}}^{F} \right) w_{\mathrm{z}_{\mathrm{Pi}}}^{F}\\ -\left( y_{\mathrm{OP}_{\mathrm{i}}}^{F}x_{\mathrm{OP}_{\mathrm{i}}}^{F} \right) w_{\mathrm{x}_{\mathrm{Pi}}}^{F}+\left[ \left( x_{\mathrm{OP}_{\mathrm{i}}}^{F} \right) ^2+\left( z_{\mathrm{OP}_{\mathrm{i}}}^{F} \right) ^2 \right] w_{\mathrm{y}_{\mathrm{Pi}}}^{F}-\left( y_{\mathrm{OP}_{\mathrm{i}}}^{F}z_{\mathrm{OP}_{\mathrm{i}}}^{F} \right) w_{\mathrm{z}_{\mathrm{Pi}}}^{F}\\ -\left( z_{\mathrm{OP}_{\mathrm{i}}}^{F}x_{\mathrm{OP}_{\mathrm{i}}}^{F} \right) w_{\mathrm{x}_{\mathrm{Pi}}}^{F}-\left( z_{\mathrm{OP}_{\mathrm{i}}}^{F}y_{\mathrm{OP}_{\mathrm{i}}}^{F} \right) w_{\mathrm{y}_{\mathrm{Pi}}}^{F}+\left[ \left( x_{\mathrm{OP}_{\mathrm{i}}}^{F} \right) ^2+\left( y_{\mathrm{OP}_{\mathrm{i}}}^{F} \right) ^2 \right] w_{\mathrm{z}_{\mathrm{Pi}}}^{F}\\ \end{array} \right]}\\ &=\sum_i^N{m_{\mathrm{P}_{\mathrm{i}}}\cdot \left[ \begin{array}{c} \hat{I}\\ \hat{J}\\ \hat{K}\\ \end{array} \right] ^{\mathrm{T}}}\left[ \begin{matrix} \left( y_{\mathrm{OP}_{\mathrm{i}}}^{F} \right) ^2+\left( z_{\mathrm{OP}_{\mathrm{i}}}^{F} \right) ^2& -x_{\mathrm{OP}_{\mathrm{i}}}^{F}y_{\mathrm{OP}_{\mathrm{i}}}^{F}& -x_{\mathrm{OP}_{\mathrm{i}}}^{F}z_{\mathrm{OP}_{\mathrm{i}}}^{F}\\ -y_{\mathrm{OP}_{\mathrm{i}}}^{F}x_{\mathrm{OP}_{\mathrm{i}}}^{F}& \left( x_{\mathrm{OP}_{\mathrm{i}}}^{F} \right) ^2+\left( z_{\mathrm{OP}_{\mathrm{i}}}^{F} \right) ^2& -y_{\mathrm{OP}_{\mathrm{i}}}^{F}z_{\mathrm{OP}_{\mathrm{i}}}^{F}\\ -z_{\mathrm{OP}_{\mathrm{i}}}^{F}x_{\mathrm{OP}_{\mathrm{i}}}^{F}& -z_{\mathrm{OP}_{\mathrm{i}}}^{F}y_{\mathrm{OP}_{\mathrm{i}}}^{F}& \left( x_{\mathrm{OP}_{\mathrm{i}}}^{F} \right) ^2+\left( y_{\mathrm{OP}_{\mathrm{i}}}^{F} \right) ^2\\ \end{matrix} \right] \left[ \begin{array}{c} w_{\mathrm{x}_{\mathrm{Pi}}}^{F}\\ w_{\mathrm{y}_{\mathrm{Pi}}}^{F}\\ w_{\mathrm{z}_{\mathrm{Pi}}}^{F}\\ \end{array} \right]\\ \end{aligned} HΣM/OF=i∑NROPiF×PPiF=i∑NmPi⋅ROPiF×(ωF×ROPiF)=i∑NmPi⋅[(ROPiF⋅ROPiF)ωF−(ωF⋅ROPiF)ROPiF]=i∑NmPi⋅ I^J^K^ T xOPiFyOPiFzOPiF T xOPiFyOPiFzOPiF wxPiFwyPiFwzPiF − wxPiFwyPiFwzPiF T xOPiFyOPiFzOPiF xOPiFyOPiFzOPiF