THE ESTABLISHMENT OF THE GENERAL DYNAMIC EQUATIONS OF TREE-STRUCTURE RIGID BODIES SYSTEM WITH BALL JOINTS

A new method of establishing the dynamic equations of the multi-rigid-body system with tree-structure and the ball-joints is proposed. With the help of the dynamics of constrained system and the differential geometry, the concept of "generalized body" is put forward to replace the sub-system of the multi-rigid body system. By the extension of the generalized body, the recursive algorithm of the establishment of the dynamic equations of the constrained system is derived