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《Journal of Beijing Institute of Machinery》 2001-03
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Spinor-matrix equations in a robot dynamics

LIU Qi guang 1, GE Xin sheng 2 (1.Departmemt of Mechanical Engineering,Beijing Institute of Machinery,Beijing 100085,China; 2.Division of Basic Courses, Beijing Institute of Machinery, Beijing 100085,China)  
Spinor matrix equation is a dynamical method that represents the spinor in classical mechanics by matrix form. With the theory of graphic of R W method,Spinor matrix equation can be applied to multibody system.The dynamic equation of a robot of 4 freedom of degree is calculated with spinor matrix method. The whole process is simple and easy to program . The method offers a new way for the analysis of dynamics of other spatial structure.
【Fund】: 北京市教委科技发展项目 [项目编号 :0 1KJ - 138]
【CateGory Index】: TH113
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