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引用次数: 4
摘要
在这个笔记中,我们考虑具有不依赖于时间的光滑线性非完整约束的机械系统。对于Chaplygin系统的一种特殊情况,当系统的运动可以被描述为与约束分布维数相同维数的约化空间局部坐标中的封闭微分方程组时,我们定义了运动方程采用测地线方程形式的线性连接。对于惯性运动或受势能影响的运动,我们给出了线性连接系数的显式表达式,其形式比[4]中一般情况下给出的形式简单得多。我们考虑具有局部坐标q (i = 1,…)的机械系统M。, n)。众所周知,M的位形空间Vn是由表达式定义度规的黎曼空间
On geometrization of motion of some nonholonomic systems
In this note we consider mechanical systems with smooth linear nonholonomic constraints which do not depend on time. For a special case of Chaplygin systems, when the motion of the system can be described as a closed system of differential equations in local coordinates of the reduced space of the same dimension as the dimension of the constraint distribution, we define linear connections for which the equations of motion take the form of equations of geodesic lines. In the case of inertial motion, or motion under influence of potential forces, we give explicit expressions for coefficients of linear connections, in a form much simpler then those given for a general case in [4]. Let us consider mechanical system M with local coordinates q (i = 1, . . . , n). It is well known that the configuration space Vn of M is the Riemannian space with the metric defined by the expression
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