Analytical Solutions for Translational Motion of Spinning-Up Rigid Bodies Subject to Constant Body-Fixed Forces and Moments

2008 ◽  
Vol 75 (1) ◽  
Author(s):  
Mohammad A. Ayoubi ◽  
James M. Longuski
Keyword(s):  
Rigid Body ◽  
Numerical Simulations ◽  
Closed Form ◽  
Analytical Solutions ◽  
Translational Motion ◽  
Rigid Bodies ◽  
Spin Axis ◽  
Transverse Displacement ◽  
Fixed Direction ◽  
Body Subject

The problem of a spinning, axisymmetric, or nearly axisymmetric rigid body subject to constant body-fixed forces and moments about three axes is considered. Approximate closed-form analytical solutions are derived for velocity and for the transverse displacement. The analytical solutions are valid when the excursion of the spin axis with respect to an inertially fixed direction is small (which is usually the case for spin-stabilized spacecraft and rockets). Numerical simulations confirm that the solutions are highly accurate when applied to typical motion of a spacecraft, such as the Galileo.

Analytical Solutions for Circular Bars Subjected to Large Strain Plastic Torsion

1990 ◽  
Vol 57 (2) ◽  
pp. 298-306 ◽  
Author(s):  
K. W. Neale ◽  
S. C. Shrivastava
Keyword(s):  
Closed Form ◽  
Analytical Solutions ◽  
Large Strain ◽  
Kinematic Hardening ◽  
Flow Theory ◽  
Constitutive Laws ◽  
Isotropic Hardening ◽  
Large Strains ◽  
Inelastic Behavior ◽  
Rate Dependent

The inelastic behavior of solid circular bars twisted to arbitrarily large strains is considered. Various phenomenological constitutive laws currently employed to model finite strain inelastic behavior are shown to lead to closed-form analytical solutions for torsion. These include rate-independent elastic-plastic isotropic hardening J2 flow theory of plasticity, various kinematic hardening models of flow theory, and both hypoelastic and hyperelastic formulations of J2 deformation theory. Certain rate-dependent inelastic laws, including creep and strain-rate sensitivity models, also permit the development of closed-form solutions. The derivation of these solutions is presented as well as numerous applications to a wide variety of time-independent and rate-dependent plastic constitutive laws.

scholarly journals ClusterSLAM: A SLAM backend for simultaneous rigid body clustering and motion estimation

2021 ◽  
Author(s):  
Jiahui Huang ◽  
Sheng Yang ◽  
Zishuo Zhao ◽  
Yu-Kun Lai ◽  
Shi-Min Hu
Keyword(s):  
Motion Estimation ◽  
Rigid Body ◽  
Iterative Scheme ◽  
Dynamic Environments ◽  
Rigid Bodies ◽  
Factor Graph ◽  
Agglomerative Clustering ◽  
Multiple Objects ◽  
Graph Optimization ◽  
Dynamic Objects

AbstractWe present a practical backend for stereo visual SLAM which can simultaneously discover individual rigid bodies and compute their motions in dynamic environments. While recent factor graph based state optimization algorithms have shown their ability to robustly solve SLAM problems by treating dynamic objects as outliers, their dynamic motions are rarely considered. In this paper, we exploit the consensus of 3D motions for landmarks extracted from the same rigid body for clustering, and to identify static and dynamic objects in a unified manner. Specifically, our algorithm builds a noise-aware motion affinity matrix from landmarks, and uses agglomerative clustering to distinguish rigid bodies. Using decoupled factor graph optimization to revise their shapes and trajectories, we obtain an iterative scheme to update both cluster assignments and motion estimation reciprocally. Evaluations on both synthetic scenes and KITTI demonstrate the capability of our approach, and further experiments considering online efficiency also show the effectiveness of our method for simultaneously tracking ego-motion and multiple objects.

scholarly journals Closed-form time derivatives of the equations of motion of rigid body systems

2021 ◽  
Author(s):  
Andreas Müller ◽  
Shivesh Kumar
Keyword(s):  
Rigid Body ◽  
Closed Form ◽  
Multibody Systems ◽  
Equations Of Motion ◽  
Alternative Formulation ◽  
Dynamics Of Rigid Body ◽  
Control Forces ◽  
And Control ◽  
Derivatives Of ◽  
Insight Into

AbstractDerivatives of equations of motion (EOM) describing the dynamics of rigid body systems are becoming increasingly relevant for the robotics community and find many applications in design and control of robotic systems. Controlling robots, and multibody systems comprising elastic components in particular, not only requires smooth trajectories but also the time derivatives of the control forces/torques, hence of the EOM. This paper presents the time derivatives of the EOM in closed form up to second-order as an alternative formulation to the existing recursive algorithms for this purpose, which provides a direct insight into the structure of the derivatives. The Lie group formulation for rigid body systems is used giving rise to very compact and easily parameterized equations.

scholarly journals Compressible integral representation of rotational and axisymmetric rocket flow

2016 ◽  
Vol 809 ◽  
pp. 213-239 ◽  
Author(s):  
M. Akiki ◽  
J. Majdalani
Keyword(s):  
Numerical Simulations ◽  
Closed Form ◽  
Mass Flux ◽  
Mathematical Formulation ◽  
Circular Cross Section ◽  
Ideal Gas ◽  
Injection Rate ◽  
Dimensional Solution ◽  
Abel Transformation ◽  
Injection Speed

This work focuses on the development of a semi-analytical model that is appropriate for the rotational, steady, inviscid, and compressible motion of an ideal gas, which is accelerated uniformly along the length of a right-cylindrical rocket chamber. By overcoming some of the difficulties encountered in previous work on the subject, the present analysis leads to an improved mathematical formulation, which enables us to retrieve an exact solution for the pressure field. Considering a slender porous chamber of circular cross-section, the method that we follow reduces the problem’s mass, momentum, energy, ideal gas, and isentropic relations to a single integral equation that is amenable to a direct numerical evaluation. Then, using an Abel transformation, exact closed-form representations of the pressure distribution are obtained for particular values of the specific heat ratio. Throughout this effort, Saint-Robert’s power law is used to link the pressure to the mass injection rate at the wall. This allows us to compare the results associated with the axisymmetric chamber configuration to two closed-form analytical solutions developed under either one- or two-dimensional, isentropic flow conditions. The comparison is carried out assuming, first, a uniformly distributed mass flux and, second, a constant radial injection speed along the simulated propellant grain. Our amended formulation is consequently shown to agree with a one-dimensional solution obtained for the case of uniform wall mass flux, as well as numerical simulations and asymptotic approximations for a constant wall injection speed. The numerical simulations include three particular models: a strictly inviscid solver, which closely agrees with the present formulation, and both $k$–$\unicode[STIX]{x1D714}$ and Spalart–Allmaras computations.

The Global Motion of a Rigid Body Subject to Periodic Body-Fixed Torques

1995 ◽  
Author(s):  
X. Tong ◽  
B. Tabarrok
Keyword(s):  
Rigid Body ◽  
Equations Of Motion ◽  
Melnikov Method ◽  
The Body ◽  
Body Motion ◽  
Heteroclinic Orbits ◽  
Coordinate Frame ◽  
Global Motion ◽  
Stable And Unstable Manifolds ◽  
Body Subject

Abstract In this paper the global motion of a rigid body subject to small periodic torques, which has a fixed direction in the body-fixed coordinate frame, is investigated by means of Melnikov’s method. Deprit’s variables are introduced to transform the equations of motion into a form describing a slowly varying oscillator. Then the Melnikov method developed for the slowly varying oscillator is used to predict the transversal intersections of stable and unstable manifolds for the perturbed rigid body motion. It is shown that there exist transversal intersections of heteroclinic orbits for certain ranges of parameter values.

Closed-form solutions of an elliptical crack subjected to coupled phonon–phason loadings in two-dimensional hexagonal quasicrystal media

2018 ◽  
Vol 24 (6) ◽  
pp. 1821-1848 ◽  
Author(s):  
Yuan Li ◽  
CuiYing Fan ◽  
Qing-Hua Qin ◽  
MingHao Zhao
Keyword(s):  
Closed Form ◽  
Integral Equations ◽  
Analytical Solutions ◽  
Boundary Integral Equations ◽  
Boundary Integral ◽  
Elliptical Crack ◽  
Two Dimensional ◽  
Crack Face ◽  
Penny Shaped Crack ◽  
Crack Problems

An elliptical crack subjected to coupled phonon–phason loadings in a three-dimensional body of two-dimensional hexagonal quasicrystals is analytically investigated. Owing to the existence of the crack, the phonon and phason displacements are discontinuous along the crack face. The phonon and phason displacement discontinuities serve as the unknown variables in the generalized potential function method which are used to derive the boundary integral equations. These boundary integral equations governing Mode I, II, and III crack problems in two-dimensional hexagonal quasicrystals are expressed in integral differential form and hypersingular integral form, respectively. Closed-form exact solutions to the elliptical crack problems are first derived for two-dimensional hexagonal quasicrystals. The corresponding fracture parameters, including displacement discontinuities along the crack face and stress intensity factors, are presented considering all three crack cases of Modes I, II, and III. Analytical solutions for a penny-shaped crack, as a special case of the elliptical problem, are given. The obtained analytical solutions are graphically presented and numerically verified by the extended displacement discontinuities boundary element method.

The Use of Projective Geometry on the Mechanism System Motion and Stability of the Special Problems in Judgement

2012 ◽  
Vol 482-484 ◽  
pp. 1041-1044
Author(s):  
Xiao Zhuang Song ◽  
Ming Liang Lu ◽  
Tao Qin
Keyword(s):  
Rigid Body ◽  
Projective Geometry ◽  
Euclidean Geometry ◽  
Specific Problem ◽  
Zero Point ◽  
Rigid Bodies ◽  
Parallel Connection ◽  
Fixed Plane ◽  
Instantaneous Center ◽  
Proof Of Principle

In a principle of kinematics, when a rigid body is motion in a plane, and the fixed plane only the presence of a speed zero point -- the instantaneous center of velocity. In the mechanism of two rigid bodies be connected by two parallel connection links, why can the continuous relative translation? Where is the instantaneous center of velocity? ... ... The traditional Euclidean geometry theory can’t explain these phenomenon, must use projective geometry theory to solve. The actual motion of the mechanism is disproof in Euclidean geometry principle limitation. This paper introduces the required in projective geometry basic proof of principle, and applied to a specific problem.

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