本文介绍了用欧拉角表示变换矩阵的方法,并推导出计算公式。进而,又在欧拉定理的基础上推导出用欧拉参数表示变换矩阵的方法。在这种方法中,用欧拉参数代替欧拉角来建立系统动力学模型,进行动力学分析。文中例举了由悬挂质量、非悬挂质量及联接两者的钢板弹簧构成的系统的动力学分析实例。 This paper introduces the method of using Euler angles to represent the transformation matrix and deduces the calculation formula. Furthermore, on the basis of Euler’s theorem, we derive the method of representing transformation matrix by Euler’s parameter. In this method, the Euler parameter Euler angle to establish the system dynamics model for dynamic analysis. An example of a dynamic analysis of a system of leaf springs consisting of suspended mass, un-suspended mass, and coupling is illustrated.