我需要解决缺少分隔符（插入。）的问题吗？

Question

{\small
\begin{multline}
\label{eq:kinem}
^{i-1}\mathit{T}_i = \left[
\begin{matrix}
\cos^2\phi_i(\cos\kappa_i s_i -1)+1 \\ 
\sin\phi_i \cos\phi_i (\cos\kappa_i s_i -1) \\ 
\cos\phi_i \sin\kappa_i s_i\\ 
0 \\
\end{matrix}\right.              
\\
\left
\begin{matrix}
\sin\phi_i \cos\phi_i (\cos\kappa_i s_i -1)&-\cos\phi_i \sin\kappa_i s_i\\ 
\cos^{2}\phi_i (1-\cos\kappa_i s_i)+\cos\kappa_i s_i& -\sin\phi_i \sin\kappa_i s_i\\ 
\sin\phi_i \sin\kappa_i s_i&\cos\kappa_i s_i\\ 
0 & 0\\
\end{matrix}\right.
\\
\left.
\begin{matrix}
\dfrac{\cos\phi_i(\cos\kappa_i s_i -1)}{\kappa_i}\\ 
\dfrac{\sin\phi_i(\cos\kappa_i s_i -1)}{\kappa_i}\\ 
\dfrac{\sin\kappa_i s_i}{\kappa_i}\\ 
1
\end{matrix}\right]
\end{multline}}

在 Overleaf 上运行此方程后，我得到了以下方程，但仍然出现错误：缺少分隔符（插入。）

Answer 1

如果您不想要括号，则无需提供\left. 和\right。您必须匹配开始和结束的括号大小，为此，我使用了\vphantom，代码如下：

\documentclass{book}
\usepackage{mathtools}

\begin{document}

{\small
\begin{multline}
\label{eq:kinem}
^{i-1}\mathit{T}_i = \left[
\begin{matrix}
\cos^2\phi_i(\cos\kappa_i s_i -1)+1\vphantom{\dfrac{\cos\phi_i(\cos\kappa_i s_i -1)}{\kappa_i}} \\ 
\sin\phi_i \cos\phi_i (\cos\kappa_i s_i -1) \vphantom{\dfrac{\sin\phi_i(\cos\kappa_i s_i -1)}{\kappa_i}}\\ 
\cos\phi_i \sin\kappa_i s_i\vphantom{\dfrac{\sin\kappa_i
s_i}{\kappa_i}}\\ 
0 \\
\end{matrix}\right.              
\\
\begin{matrix}
\sin\phi_i \cos\phi_i (\cos\kappa_i s_i -1)&-\cos\phi_i \sin\kappa_i s_i\\ 
\cos^{2}\phi_i (1-\cos\kappa_i s_i)+\cos\kappa_i s_i& -\sin\phi_i \sin\kappa_i s_i\\ 
\sin\phi_i \sin\kappa_i s_i&\cos\kappa_i s_i\\ 
0 & 0\\
\end{matrix}
\\
\left.
\begin{matrix}
\dfrac{\cos\phi_i(\cos\kappa_i s_i -1)}{\kappa_i}\\ 
\dfrac{\sin\phi_i(\cos\kappa_i s_i -1)}{\kappa_i}\\ 
\dfrac{\sin\kappa_i s_i}{\kappa_i}\\ 
1
\end{matrix}\right]
\end{multline}}

\end{document}

输出

Answer 2

正如我在评论中所说，你实际上并不需要\left.（你忘记了“ .”）和\right.中间行的：

\documentclass{article}
\usepackage{amsmath}

\begin{document}
\pagestyle{empty}
{\small
\begin{multline}
\label{eq:kinem}
^{i-1}\mathit{T}_i = \left[
\begin{matrix}
\cos^2\phi_i(\cos\kappa_i s_i -1)+1 \\ 
\sin\phi_i \cos\phi_i (\cos\kappa_i s_i -1) \\ 
\cos\phi_i \sin\kappa_i s_i\\ 
0 \\
\end{matrix}\right.              
\\
\begin{matrix}
\sin\phi_i \cos\phi_i (\cos\kappa_i s_i -1)&-\cos\phi_i \sin\kappa_i s_i\\ 
\cos^{2}\phi_i (1-\cos\kappa_i s_i)+\cos\kappa_i s_i& -\sin\phi_i \sin\kappa_i s_i\\ 
\sin\phi_i \sin\kappa_i s_i&\cos\kappa_i s_i\\ 
0 & 0\\
\end{matrix}
\\
\left.
\begin{matrix}
\dfrac{\cos\phi_i(\cos\kappa_i s_i -1)}{\kappa_i}\\ 
\dfrac{\sin\phi_i(\cos\kappa_i s_i -1)}{\kappa_i}\\ 
\dfrac{\sin\kappa_i s_i}{\kappa_i}\\ 
1
\end{matrix}\right]
\end{multline}}

\end{document}

输出：