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刚体和刚体动力学
Introduction
刚体也可以被描述为粒子集合，其特性是粒子之间的距离在物体运动过程中保持不变。物体在圆形路径中保持旋转的轴称为旋转轴。刚体旋转的动力学和运动学主要围绕一个轴进行。这里，固定的轴被确定为完全类似于沿着一个固定方向的线性运动的轴，并且被认为处于旋转运动中。
What is motion?
当一个物体决定随着时间不断改变其位置和方向时，这种情况被认为是在运动中。如果物体的方向随着时间间隔不断变化，则可以确定为旋转现象（Huang等人2019）。
刚体可以处于不同的运动中，如平移运动和旋转运动。当一个刚体沿着一条直线运动时，它就被认为是在做平移运动。当发现一个刚体沿着一个倾斜的平面运动时，就认为它在旋转运动。
What do you mean by the rigid body?
刚体被确定为物体的理想化，它永远不会改变形状或变形。施加在刚体上的力会使刚体的运动状态发生变化。如果力施加在非刚体上，那么物体的大小和形状就会发生变化。刚体具有明确定义的唯一平衡几何结构，而非刚体没有唯一平衡的可能几何结构。
Figure 1: Rigid Body: Particle Chunks
所有的物体在运动时都会变形。在刚体的情况下，没有发现变形，并确定为质量的恒定分布（Li等人，2018）。这种现象可以进一步阐述为，即使外力施加在刚体上，刚体的2个提供点之间的距离也在时间间隔内保持恒定状态。
Types of the rigid body motions
刚体运动被认为是两个点之间保持不变的相对距离。在这里，两个点之间的相对位置也保持相等。刚体运动有4种主要类型——平移运动、反射运动、旋转运动和滑翔反射运动（Borisov等人，2018）。旋转运动的例子是吊扇的旋转和时钟的旋转。对于反射运动，回声是主要的例子，而对于滑翔反射运动，则是一个人在沙滩上行走时留下的足迹。
What are the dynamics of the Rigid body?
为了说明刚体动力学，详细说明刚体的运动类型至关重要。这些运动是平移运动和旋转运动（farside.ph.utexas，2022）。如果一个刚体处于纯旋转运动中，那么它将围绕一个固定且垂直于固定平面的轴旋转。如果刚体沿着圆形或曲面运动，则其质心将保持运动，刚体将进行旋转运动。
Figure 2: Rigid body rotation
处于旋转运动中的刚体围绕一个轴行进，并且该轴被确定为旋转轴。如果发现刚体沿着直线甚至线性路径运动，则可以将其确定为平移运动（Carpentier等人，2018）。平移运动主要有两种类型，即直线运动和曲线运动。
Conclusion
在刚体中，即使从外部对物体施加任何力，所有原子也总是保持在相同的位置。在刚体中没有发现变形，并被确定为质量的恒定分布。即使刚体有各种疯狂的分子和原子，它们也会保持均匀的运动状态。刚体的运动有两种主要类型，即旋转运动和平移运动。平移运动的例子有汽车的移动、个人对植物的滑冰和船的航行。旋转运动的例子有车轮的运动、电机的旋转等。对刚体何时旋转和何时平移的理解被确定为刚体动力学。
FAQs
Q1.你所说的刚体的刚性是什么意思
答：加速器物理学中刚体的刚度是许多带电粒子保持运动的特定磁场的影响。它是对粒子动量的测量，指的是动量较高的粒子具有较高的电阻，并被磁场偏转。
Q2.刚体的主要特征是什么
刚体上的每条线都有相等的角加速度和角速度。刚体的运动可以分解为任意点的平移，然后绕点旋转。
Q3.刚体的方向是什么
答：当刚体的质心静止时，刚体的方向可以改变或旋转。刚体的旋转可以通过1个四元数、3x3矩阵以及3个欧拉角来跟踪。
Q4.刚体的刺激是什么
可以利用刚体刺激来刺激固体粒子的运动。刺激基本上会影响粒子的方向和位置，然后永远不会使它们变形。刚体刺激与动画系统配合使用。