Form invariance of Raitzin's canonical equations of a nonholonomic mechanical system
Qiao Yong-Fen (乔永芬)abc, Li Ren-Jie (李仁杰)b, Ma Yong-Sheng (马永胜)c
a Department of Mechanical Engineering and Automation, Zhejiang Institute of Science and Technology, Hangzhou 312207, China; b Faculty of Science, Laiyang Agricultural College, Laiyang 265200, China; c Engineering College of Northeast Agricultural University, Harbin 150030, China
Abstract A form invariance of Raitzin's canonical equations of a nonholonomic mechanical system is studied. The Raitzin canonical equations of the system are established. The definition and criterion of the form invariance in the system under infinitesimal transformations of groups are given. The relation between the form invariance and the conserved quantity of the system is obtained and an example is also given to illustrate the application of the result.
Received: 08 June 2004
Revised: 25 August 2004
Accepted manuscript online:
Fund: Project supported by the Heilongjiang Natural Science Foundation, China (Grant No 9507)
Cite this article:
Qiao Yong-Fen (乔永芬), Li Ren-Jie (李仁杰), Ma Yong-Sheng (马永胜) Form invariance of Raitzin's canonical equations of a nonholonomic mechanical system 2005 Chinese Physics 14 12
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