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 euler rotation
 The error for the RIU method is about 1 voxel for the translation parameters and 1 degree for the Euler rotation angles.
 This paper maintained the coordinate systems selected in 'static analysis" and carried outthe kinematic and dynamic analysis of spider shaft turning about a fixed point. By introducing Euler rotation matrix, it gave the transforming relations between generalizedcoordinate and Euler angles, By applying matrix form to classic Euler kinematic and dynamicequation, it solved three dimensional instantaneous axis equation, and obtained angular velocity, angular velocity about instantaneous axis, angular... This paper maintained the coordinate systems selected in 'static analysis" and carried outthe kinematic and dynamic analysis of spider shaft turning about a fixed point. By introducing Euler rotation matrix, it gave the transforming relations between generalizedcoordinate and Euler angles, By applying matrix form to classic Euler kinematic and dynamicequation, it solved three dimensional instantaneous axis equation, and obtained angular velocity, angular velocity about instantaneous axis, angular acceleration, and inertia torque. 本文以《静力分析》[3]一文所选的坐标系对绕定点转动的十字轴进行运动、动力分析，引入欧拉旋转矩阵，解出广义坐标与欧拉角之间的换算关系，将传统的欧拉运动方程、欧拉动力学方程配以矩阵形式，解出三维的瞬轴方程、绕瞬轴角速度、角加速度及惯性力矩。 Location of spacecraft is given generally by two coordinates, orbital and attitude. Expressions of a constant vector in these two coordinates are studied. Transformation matrix of Euler rotation of one coordinate is obtained in the other coordinate. The three Euler angles of the spacecraft rotating about its mass point are identified with the expressions of two constant vectors in these two coordinates. The above method has been used in practice. 研究不变矢量在固联和轨道坐标系下的表达，得出了一个坐标系在另一个坐标系中旋转的变换矩阵。并且通过２个不变矢量在不同坐标系中的表达，识别了飞行器在空间绕质心旋转运动的３个欧拉旋转角。此方法已应用于工程实际。 To calculate the motion and deformation for spatial bar practicaly, this paper presents the method: despersed flexible bar in rigid body, described deformations by using Euler rotation and created KED model with Kane equation. 本文对空间杆运动弹性动力学问题的实用计算采用了刚体离散化方法，利用欧拉转动描述杆的弹性变形，用Ｋａｎｅ方程建立杆的ＫＥＤ数学模型． << 更多相关文摘
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