万向联轴器十字轴的运动学和动力学方程

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。

KINEMATICS AND KINETICS EQUATIONS OF UNIVERSAL JOINT PINS AT UNIVERSAL COUPLINGS

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.