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1、JensWittenburgDynamicsofMultibodySystemsJensWittenburgDynamicsofMultibodySystemsSecondEdition123ProfessorDr.-Ing.JensWittenburgUniversityofKarlsruhe(TH)InstituteofEngineeringMechanicsKaiserstrasse???????Karlsruhe,GermanyEmail:wittenburg@itm.uni-karlsruhe.deOriginallypub
2、lishedunder:DynamicsofSystemsofRigidBodies,intheLAMMseries,Teubner????LibraryofCongressControlNumber:??????????ISBN???-?-???-?????-?SpringerBerlinHeidelbergNewYorkThisworkissubjecttocopyright.Allrightsarereserved,whetherthewholeorpartofthematerialisconcerned,speci?cally
3、therightsoftranslation,reprinting,reuseofillustrations,recitation,broadcasting,reproductiononmicro?lmorinanyotherway,andstorageindatabanks.DuplicationofthispublicationorpartsthereofispermittedonlyundertheprovisionsoftheGermanCopyrightLawofSeptember?,????,initscurrentver
4、sion,andpermissionforusemustalwaysbeobtainedfromSpringer.ViolationsareliableforprosecutionundertheGermanCopyrightLaw.SpringerisapartofSpringerScience+BusinessMediaspringer.com?Springer-VerlagBerlinHeidelberg????Theuseofgeneraldescriptivenames,registerednames,trademarks,
5、etc.inthispublicationdoesnotimply,evenintheabsenceofaspeci?cstatement,thatsuchnamesareexemptfromtherelevantprotectivelawsandregulationsandthereforefreeforgeneraluse.Typesettingandproduction:LE-TEXJelonek,Schmidt&V¨ocklerGbR,LeipzigCoverdesign:eStudioCalamarS.L.,F.Steine
6、n-Broo,Girona,SpainSPIN??????????/????/YL–??????Printedonacid-freepapertomyparentsPrefacePrefacetotheSecondEditionThe?rsteditionofthisbookpublishedthirtyyearsagobyTeubnerhadthetitleDynamicsofSystemsofRigidBodies[97].Soonafterpublicationthetermmultibodysystembecamethenam
7、eofthisnewandrapidlydevelopingbranchofengineeringmechanics.Forthisreason,thesecondeditionpub-lishedbySpringerappearsunderthetitleDynamicsofMultibodySystems.Becauseofthesuccessofthe?rstedition(translationsintoRussian(1980),Chinese(1986)andVietnamese(2000);useastextbookin
8、advancedcoursesinGermanyandabroad)littlematerialhasbeenaddedinthenewedition.InChaps.1–4nothinghaschangedexcept
