理想流体中连接刚体的动力学
Dynamics of Connected Rigid Bodies in a Perfect Fluid
AI总结：
本文提出了一种由球铰连接的刚体系统在无旋不可压缩流体中的解析模型和几何数值积分器，用于模拟三维鱼类运动。
摘要：
本文提出了一个由球铰连接的刚体系统在无旋不可压缩流体中的解析模型和几何数值积分器。刚体可以在三维空间中平移和旋转，每个关节具有三个旋转自由度。该模型刻画了三维鱼类运动的定性行为。一种称为李群变分积分器的几何数值积分器保留了所提出模型的哈密顿结构及其李群构形流形。通过对三个连接刚体系统的数值模拟，说明了这些性质。
英文摘要：
This paper presents an analytical model and a geometric numerical integrator for a system of rigid bodies connected by ball joints, immersed in an irrotational and incompressible fluid. The rigid bodies can translate and rotate in three-dimensional space, and each joint has three rotational degrees of freedom. This model characterizes the qualitative behavior of three-dimensional fish locomotion. A geometric numerical integrator, refereed to as a Lie group variational integrator, preserves Hamiltonian structures of the presented model and its Lie group configuration manifold. These properties are illustrated by a numerical simulation for a system of three connected rigid bodies.
机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。
