Obtained the consistent conclusion with vivid and the abstract two ways is the cube rigid body transformation way altogether has 48 kinds.

用形象和抽象的两种方式都得到了一致的结论即正方体的刚体变换的方式共有48种。

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By transformation, the differential equation group of couple motions of solar wings and the central rigid body of the spacecraft is obtained.

通过变换，给出太阳帆板、航天器中心刚体耦合运动微分方程组。

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Secondly, a real number quaternion transformation is used to study the general motion of a rigid body and the relative motion of several rigid bodies;

其次，得到了刚体和一般运动中的实数四元数形式的姿态方程式和位移方程式。

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