scholarly journals The geometry of equations of motion: particles in equivalent universes

2021 ◽  
Author(s):  
Theresa E. Honein ◽  
Oliver M. O’Reilly
Keyword(s):  
Complex Systems ◽  
Single Particle ◽  
Equations Of Motion ◽  
Explicit Construction ◽  
Rigid Bodies ◽  
Constrained System ◽  
Challenging Tasks ◽  
System Of Particles ◽  
Configuration Manifold ◽  
Tangent Vectors

AbstractThe equations of motion for the simplest non-holonomically constrained system of particles are formulated using six methods: Newton–Euler, Lagrange, Maggi, Gibbs–Appell, Kane, and Boltzmann–Hamel. The challenging tasks of exploring and explaining the relationships and equivalences between these formulations is accomplished by constructing a single representative particle for the system of particles. The single particle is constrained to move on a configuration manifold. The explicit construction of sets of tangent vectors to the manifold and their relation to the forces acting on the single particle are used to provide several helpful geometric interpretations of the relationships between the formulations. These interpretations can also be extended to help understand the relationships between different formulations of the equations of motion for more complex systems, including systems of rigid bodies and particles.

Formulation of the Equations of Motion of RRPR Robot Manipulator

2000 ◽  
Author(s):  
Hazem Ali Attia ◽  
Tarek M. A. El-Mistikawy ◽  
Adel A. Megahed
Keyword(s):  
Dynamic Analysis ◽  
Efficient Solution ◽  
Robot Manipulator ◽  
Equations Of Motion ◽  
Rigid Bodies ◽  
Second Law ◽  
Equivalent System ◽  
Constraint Forces ◽  
Dynamic Formulation ◽  
System Of Particles

Abstract In this paper the dynamic analysis of RRPR robot manipulator is presented. The equations of motion are formulated using a two-step transformation. Initially, a dynamically equivalent system of particles that replaces the rigid bodies is constructed and then Newton’s second law is applied to derive their equations of motion. The equations of motion are then transformed to the relative joint variables. Use of both Cartesian and joint variables produces an efficient set of equations without loss of generality. For open chains, this process automatically eliminates all of the non-working constraint forces and leads to an efficient solution and integration of the equations of motion. The results of the simulation indicate the simplicity and generality of the dynamic formulation.

A Unified Framework for Dynamics and Lyapunov Stability of Holonomically Constrained Rigid Bodies

2005 ◽  
Vol 9 (4) ◽  
pp. 387-394 ◽  
Author(s):  
Khoder Melhem ◽  
◽  
Zhaoheng Liu ◽  
Antonio Loría ◽  
◽  
...  
Keyword(s):  
System Dynamics ◽  
Lyapunov Stability ◽  
Degrees Of Freedom ◽  
Equations Of Motion ◽  
Rigid Bodies ◽  
Minimal Realization ◽  
State Variables ◽  
Unified Framework ◽  
Constrained System ◽  
And Control

A new dynamic model for interconnected rigid bodies is proposed here. The model formulation makes it possible to treat any physical system with finite number of degrees of freedom in a unified framework. This new model is a nonminimal realization of the system dynamics since it contains more state variables than is needed. A useful discussion shows how the dimension of the state of this model can be reduced by eliminating the redundancy in the equations of motion, thus obtaining the minimal realization of the system dynamics. With this formulation, we can for the first time explicitly determine the equations of the constraints between the elements of the mechanical system corresponding to the interconnected rigid bodies in question. One of the advantages coming with this model is that we can use it to demonstrate that Lyapunov stability and control structure for the constrained system can be deducted by projection in the submanifold of movement from appropriate Lyapunov stability and stabilizing control of the corresponding unconstrained system. This procedure is tested by some simulations using the model of two-link planar robot.

scholarly journals Dynamic model of multi-rigid-body systems based on particle dynamics with recursive approach

2005 ◽  
Vol 2005 (4) ◽  
pp. 365-382 ◽  
Author(s):  
Hazem Ali Attia
Keyword(s):  
Rigid Body ◽  
Dynamic Model ◽  
Equations Of Motion ◽  
Particle Dynamics ◽  
Rigid Bodies ◽  
Constrained System ◽  
Open Chain ◽  
Chain System ◽  
Closed Chain ◽  
Serial Chains

A dynamic model for multi-rigid-body systems which consists of interconnected rigid bodies based on particle dynamics and a recursive approach is presented. The method uses the concepts of linear and angular momentums to generate the rigid body equations of motion in terms of the Cartesian coordinates of a dynamically equivalent constrained system of particles, without introducing any rotational coordinates and the corresponding rotational transformation matrix. For the open-chain system, the equations of motion are generated recursively along the serial chains. A closed-chain system is transformed to open-chain by cutting suitable kinematical joints and introducing cut-joint constraints. An example is chosen to demonstrate the generality and simplicity of the developed formulation.

A Computational Method for the Dynamic Analysis of Planar Linkages With Applications

2001 ◽  
Author(s):  
Hazem A. Attia
Keyword(s):  
Closed Loop ◽  
Equations Of Motion ◽  
Open Loop ◽  
Rigid Bodies ◽  
Transformation Matrix ◽  
Computational Method ◽  
Constraint Forces ◽  
Constrained System ◽  
Velocity Transformation ◽  
Planar Linkages

Abstract This paper presents a computational method for generating the equations of motion of planar linkages consisting of interconnected rigid bodies. The formulation uses initially the rectangular Cartesian coordinates of an equivalent constrained system of particles to define the configuration of the mechanism. This results in a simple and straightforward procedure for generating the equations of motion. The equations of motion are then derived in terms of relative joint variables through the use of a velocity transformation matrix. The velocity transformation matrix relates the relative joint velocities to the Cartesian velocities. For the open loop case, this process automatically eliminates all of the non-working constraint forces and leads to an efficient integration of the equations of motion. For the closed loop case, suitable joints should be cut and few cut-joints constraint equations should be included for each closed loop. Examples are used to demonstrate the generality and efficiency of the proposed method.

scholarly journals An explicit construction of the dimension-9 operator basis in the standard model effective field theory

2020 ◽  
Vol 2020 (11) ◽  
Author(s):  
Yi Liao ◽  
Xiao-Dong Ma
Keyword(s):  
Field Theory ◽  
Standard Model ◽  
Effective Field Theory ◽  
Equations Of Motion ◽  
Baryon Number ◽  
Explicit Construction ◽  
Effective Field ◽  
Starting Point ◽  
The Standard Model ◽  
Symmetry Relations

Abstract We investigate systematically dimension-9 operators in the standard model effective field theory which contains only standard model fields and respects its gauge symmetry. With the help of the Hilbert series approach to classifying operators according to their lepton and baryon numbers and their field contents, we construct the basis of operators explicitly. We remove redundant operators by employing various kinematic and algebraic relations including integration by parts, equations of motion, Schouten identities, Dirac matrix and Fierz identities, and Bianchi identities. We confirm counting of independent operators by analyzing their flavor symmetry relations. All operators violate lepton or baryon number or both, and are thus non-Hermitian. Including Hermitian conjugated operators there are $$ {\left.384\right|}_{\Delta B=0}^{\Delta L=\pm 2}+{\left.10\right|}_{\Delta B=\pm 2}^{\Delta L=0}+{\left.4\right|}_{\Delta B=\pm 1}^{\Delta L=\pm 3}+{\left.236\right|}_{\Delta B=\pm 1}^{\Delta L=\mp 1} $$ 384 Δ B = 0 Δ L = ± 2 + 10 Δ B = ± 2 Δ L = 0 + 4 Δ B = ± 1 Δ L = ± 3 + 236 Δ B = ± 1 Δ L = ∓ 1 operators without referring to fermion generations, and $$ {\left.44874\right|}_{\Delta B=0}^{\Delta L=\pm 2}+{\left.2862\right|}_{\Delta B=\pm 2}^{\Delta L=0}+{\left.486\right|}_{\Delta B=\pm 1}^{\Delta L=\pm 3}+{\left.42234\right|}_{\Delta B=\mp 1}^{\Delta L=\pm 1} $$ 44874 Δ B = 0 Δ L = ± 2 + 2862 Δ B = ± 2 Δ L = 0 + 486 Δ B = ± 1 Δ L = ± 3 + 42234 Δ B = ∓ 1 Δ L = ± 1 operators when three generations of fermions are referred to, where ∆L, ∆B denote the net lepton and baryon numbers of the operators. Our result provides a starting point for consistent phenomenological studies associated with dimension-9 operators.

Effect of Material and Geometric Parameters on the Steady-State Belt Stresses and Belt Slip for Flat Belt-Drives

2015 ◽  
Author(s):  
Cagkan Yildiz ◽  
Tamer M. Wasfy ◽  
Hatem M. Wasfy ◽  
Jeanne M. Peters
Keyword(s):  
Steady State ◽  
Equations Of Motion ◽  
Three Dimensional ◽  
Flexible Multibody Dynamics ◽  
Friction Model ◽  
Rigid Bodies ◽  
Geometric Parameters ◽  
Rubber Matrix ◽  
Axial Stiffness ◽  
Belt Drive

In order to accurately predict the fatigue life and wear life of a belt, the various stresses that the belt is subjected to and the belt slip over the pulleys must be accurately calculated. In this paper, the effect of material and geometric parameters on the steady-state stresses (including normal, tangential and axial stresses), average belt slip for a flat belt, and belt-drive energy efficiency is studied using a high-fidelity flexible multibody dynamics model of the belt-drive. The belt’s rubber matrix is modeled using three-dimensional brick elements and the belt’s reinforcements are modeled using one dimensional truss elements. Friction between the belt and the pulleys is modeled using an asperity-based Coulomb friction model. The pulleys are modeled as cylindrical rigid bodies. The equations of motion are integrated using a time-accurate explicit solution procedure. The material parameters studied are the belt-pulley friction coefficient and the belt axial stiffness and damping. The geometric parameters studied are the belt thickness and the pulleys’ centers distance.

scholarly journals A Simulation Model for Computing the Loads Generated at Landing Site During Helicopter Take-Off or Landing Operation

2019 ◽  
Vol 2019 (2) ◽  
pp. 59-75
Author(s):  
Jarosław Stanisławski
Keyword(s):  
Equations Of Motion ◽  
Landing Site ◽  
Simulation Method ◽  
Rigid Bodies ◽  
Landing Gear ◽  
Rotor Blades ◽  
Wind Gust ◽  
The Galerkin Method ◽  
Lumped Masses ◽  
And Control

Summary The paper presents simulation method and results of calculations determining behavior of helicopter and landing site loads which are generated during phase of the helicopter take-off and landing. For helicopter with whirling rotor standing on ground or touching it, the loads of landing gear depend on the parameters of helicopter movement, occurrence of wind gusts and control of pitch angle of the rotor blades. The considered model of helicopter consists of the fuselage and main transmission treated as rigid bodies connected with elastic elements. The fuselage is supported by landing gear modeled by units of spring and damping elements. The rotor blades are modeled as elastic axes with sets of lumped masses of blade segments distributed along them. The Runge-Kutta method was used to solve the equations of motion of the helicopter model. According to the Galerkin method, it was assumed that the parameters of the elastic blade motion can be treated as a combination of its bending and torsion eigen modes. For calculations, data of a hypothetical light helicopter were applied. Simulation results were presented for the cases of landing helicopter touching ground with different vertical speed and for phase of take-off including influence of rotor speed changes, wind gust and control of blade pitch. The simulation method may help to define the limits of helicopter safe operation on the landing surfaces.

Simulation of Planar Dynamic Mechanical Systems With Changing Topologies: Part I — Characterization and Prediction of the Kinematic Constraint Changes

1987 ◽  
Author(s):  
B. J. Gilmore ◽  
R. J. Cipra
Keyword(s):  
Equations Of Motion ◽  
Mechanical Systems ◽  
Rigid Bodies ◽  
State Variables ◽  
Kinematic Constraint ◽  
Kinematic Constraints ◽  
Force Closure ◽  
Simulation Strategy ◽  
Reaction Forces ◽  
Discontinuous Equations

Abstract Due to changes in the kinematic constraints, many mechanical systems are described by discontinuous equations of motion. This paper addresses those changes in the kinematic constraints which are caused by planar bodies contacting and separating. A strategy to automatically predict and detect the kinematic constraint changes, which are functions of the system dynamics, is presented in Part I. The strategy employs the concepts of point to line contact kinematic constraints, force closure, and ray firing together with the information provided by the rigid bodies’ boundary descriptions, state variables, and reaction forces to characterize the kinematic constraint changes. Since the strategy automatically predicts and detects constraint changes, it is capable of simulating mechanical systems with unpredictable or unforeseen changes in topology. Part II presents the implementation of the characterizations into a simulation strategy and presents examples.

Dynamic Modelling of a Three Degree-of-Freedom Planar Platform-Type Manipulator

1997 ◽  
Author(s):  
Hazem A. Attia ◽  
Maher G. Mohamed
Keyword(s):  
Differential Equations ◽  
Efficient Solution ◽  
Equations Of Motion ◽  
Translational Motion ◽  
Dynamic Modelling ◽  
Degree Of Freedom ◽  
Constraint Forces ◽  
Dynamic Formulation ◽  
System Of Particles ◽  
Three Degree Of Freedom

Abstract In this paper, the dynamic modelling of a planar three degree-of-freedom platform-type manipulator is presented. A kinematic analysis is carried out initially to evaluate the initial coordinates and velocities. The dynamic model of the manipulator is formulated using a two-step transformation. Initially, the dynamic formulation is written in terms of the Cartesian coordinates of a dynamically equivalent system of particles. Since there is no rotational motion associated with a particle, then the differential equations of motion are derived by applying Newton’s second law to study the translational motion of the particles. The constraint forces between the particles are expressed in terms of Lagrange multipliers. Then, the differential equations of motion are written in terms of the relative joint variables. This leads to an efficient solution and integration of the equations of motion. A numerical example is presented and a computer program is developed.

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