Dynamics of Mechanical Systems and the Generalized Free-Body Diagram—Part II: Imposition of Constraints

2008 ◽  
Vol 75 (6) ◽  
Author(s):  
József Kövecses
Keyword(s):  
Mechanical System ◽  
Configuration Space ◽  
Mechanical Systems ◽  
Constrained Systems ◽  
Simulation Design ◽  
Free Body Diagram ◽  
Free Body ◽  
Dynamics Models ◽  
And Control

In this part of the work we present some applications of the formulation developed in Part I (Kövecses, 2008, “Dynamics of Mechanical Systems and the Generalized Free-Body Diagram—Part I: General Formulation,” ASME J. Appl. Mech., 75(6), p. 061012) for the generalized free-body diagram in configuration space. This involves the specification and imposition of constraint conditions, which were identified as Step 2 of the analysis of a mechanical system in Part I. We will particularly consider bilaterally and unilaterally constrained systems, where constraints are realized via ideal or nonideal interfaces. We also look at the general case where the constraint configuration is possibly redundant. The results represent novel forms of dynamics models for mechanical systems, and can offer the possibility to gain more insight for simulation, design, and control.

Dynamics of Mechanical Systems and the Generalized Free-Body Diagram—Part I: General Formulation

2008 ◽  
Vol 75 (6) ◽  
Author(s):  
József Kövecses
Keyword(s):  
Configuration Space ◽  
Dynamic Equilibrium ◽  
Mechanical Systems ◽  
Constrained Systems ◽  
Dynamic Equations ◽  
Analytical Mechanics ◽  
Constrained Motion ◽  
Equilibrium Equations ◽  
Free Body Diagram ◽  
Free Body

In this paper, we generalize the idea of the free-body diagram for analytical mechanics for representations of mechanical systems in configuration space. The configuration space is characterized locally by an Euclidean tangent space. A key element in this work relies on the relaxation of constraint conditions. A new set of steps is proposed to treat constrained systems. According to this, the analysis should be broken down to two levels: (1) the specification of a transformation via the relaxation of the constraints; this defines a subspace, the space of constrained motion; and (2) specification of conditions on the motion in the space of constrained motion. The formulation and analysis associated with the first step can be seen as the generalization of the idea of the free-body diagram. This formulation is worked out in detail in this paper. The complement of the space of constrained motion is the space of admissible motion. The parametrization of this second subspace is generally the task of the analyst. If the two subspaces are orthogonal then useful decoupling can be achieved in the dynamics formulation. Conditions are developed for this orthogonality. Based on this, the dynamic equations are developed for constrained and admissible motions. These are the dynamic equilibrium equations associated with the generalized free-body diagram. They are valid for a broad range of constrained systems, which can include, for example, bilaterally constrained systems, redundantly constrained systems, unilaterally constrained systems, and nonideal constraint realization.

Study upon the Dynamic Answer of Plane Manipulators

2012 ◽  
Vol 463-464 ◽  
pp. 1304-1308 ◽  
Author(s):  
Ionut Geonea ◽  
Alexandru Margine ◽  
Alin Ungureanu
Keyword(s):  
Mechanical System ◽  
Control Systems ◽  
Mechanical Systems ◽  
Dynamical Analysis ◽  
Functional Description ◽  
Plane Manipulator ◽  
And Control

The paper illustrates the structure of plane mechanical systems used to manipulators. In the first part are presented some kinematics schemes used to plane manipulators. These mechanisms are used to manipulators, positioning and control systems. In generally these mechanisms have two or three degree of mobility. The purpose of the paper is to study the dynamics of a plane manipulator mechanical system used to manipulate garbage containers. It is presented the kinematics scheme of a plane manipulator, used to this purpose and is presented the mechanism functional description. In the second part is presented the kinematical and dynamical analysis for the plane manipulator mechanism. In the last part of the paper are presented graphical results for the dynamics parameters.

scholarly journals Ingarden mechanical systems with special external forces

2015 ◽  
Vol 23 (2) ◽  
pp. 161-171
Author(s):  
Otilia Lungu ◽  
Valer Nimineţ
Keyword(s):  
Mechanical System ◽  
Electromagnetic Fields ◽  
Configuration Space ◽  
Maxwell Equations ◽  
Mechanical Systems ◽  
Velocity Space ◽  
Nonlinear Connection ◽  
External Forces

Abstract In the present paper we study a remarcable particular case of Finslerian mechanical system, called Ingarden mechanical system. This is defined by a 4-uple ∑IFⁿ = (M, F2, N, Fe) where M is the configuration space, Fn = (M, F, (x, y)) = (M, α, (x, y) + β (x, y)) is an Ingarden space, N is the Lorentz nonlinear connection and are the external forces.One associates to this system ∑IFⁿ a semispray S, or a dinamical system on the velocity space TM. We write the generalized Maxwell equations for the electromagnetic fields of ∑IFⁿ.

scholarly journals Modelado y simulación del péndulo de base móvil

2019 ◽  
pp. 15-22
Author(s):  
Filemón López-Ortega ◽  
Martha Cárdenas-Maciel ◽  
Rogelio Serrano-Zepeda ◽  
Miguel Ángel Lara-Ceballos
Keyword(s):  
Pid Controller ◽  
Angular Displacement ◽  
Equations Of Motion ◽  
Closed Loop System ◽  
Marine Vehicles ◽  
Free Body Diagram ◽  
Free Body ◽  
Physical Laws ◽  
And Control ◽  
Mobile Base

This article describes the simulation and control of a mobile base pendulum (PBM), which consists of a mechanism with two wheels and a vertical cylindrical rod, which can rotate freely on its own axis, then the mobile must move to compensate for the angular displacement of the pendulum. The objective is to develop a mathematical model to simulate the dynamic behavior of the mechanism and thereby develop a Proportional, Integral and Derivative (PID) controller, optimal that manages to maintain this pendulum at a vertical degree in a time ts ≤ 1 second, with an entry angle of ± 10 degrees. The Newton-Euler (NE) methodology was used to determine the dynamic equations of motion, by analyzing the free body diagram and using the physical laws that allow defining the forces acting on the system to achieve the state of equilibrium. These simulations were carried out with the SolidWorks (SimMechanics Link) and Matlab (Simulink) tools, in addition a closed loop system was used to analyze the output signal Y (s) with respect to the input signal U (s). The contributions of this development consist of designing high-precision controllers with the purpose of improving industrial automation processes from the implementation of a control system, in areas such as robotics, marine vehicles, aerospace, to name a few examples.

The Control of Vibration Transmissibility Using an Electrodynamic Actuator –Close-Loop Solution

2013 ◽  
Vol 436 ◽  
pp. 166-173
Author(s):  
A. Mihaela Mîţiu ◽  
Daniel Constantin Comeagă ◽  
Octavian G. Donţu
Keyword(s):  
Mathematical Model ◽  
Control System ◽  
Mechanical System ◽  
Closed Loop ◽  
Mechanical Systems ◽  
Vibration Transmissibility ◽  
Technical Solutions ◽  
The Mathematical Model

In this paper are presented some aspects of transmissibility control of mechanical systems with 1 DOF so that the effects of vibration on their action to be minimized. Some technical solutions that can be used for this purpose is analyzed. Starting from the mathematical model of an electro-mechanical system with 1 DOF, are identified the parameters which influence the effectiveness of the transmissibility control system using an electrodynamic actuator who work in "closed loop".

Controlled Arming of Mechanical Systems Embedded into Embarked Electrical Systems

2014 ◽  
Vol 555 ◽  
pp. 209-216
Author(s):  
Gheorghe Negru
Keyword(s):  
Kalman Filter ◽  
Mechanical System ◽  
High Speed ◽  
Mechanical Systems ◽  
Electrical Systems ◽  
General Motion

The paper presents an application of the Kalman filter to achieve the controlled arming of mechanical system embedded into embarked electrical systems (FMES). The solution of FMES which contain mechanical subsystems electronically controlled could significantly reduce the influence, on their functioning, of the general motion of high speed object (HSO) .

The Method for Determining the Vibration-Damping Elements for the Mechanical System to Obtain the Desired Amplitude Value

2014 ◽  
Vol 657 ◽  
pp. 644-648 ◽  
Author(s):  
Andrzej Dymarek ◽  
Tomasz Dzitkowski
Keyword(s):  
Mechanical System ◽  
Dynamic Characteristics ◽  
Vibration Reduction ◽  
Mechanical Systems ◽  
Vibration Damping ◽  
Displacement Velocity ◽  
Synthesis Methods ◽  
Resonance Frequencies

The paper presents the use of synthesis methods to determine the parameters of passive vibration reduction in mechanical systems. Passive vibration reduction in a system is enabled by units called dampers whose values are determined on the basis of the method formulated and formalized by the authors. The essence of the method are, established at the beginning of a task, dynamic characteristics in the form of the resonance and anti-resonance frequencies, and amplitudes of displacement, velocity or acceleration of vibration.

Sign in / Sign up

Export Citation Format

Share Document