Advancement of the Udwadia-Kalaba Approach for Rigid Body Constrained Motion Analysis in Geometric Mechanics

2021 ◽  
Author(s):  
Brennan S. McCann ◽  
Wesley T. Stackhouse ◽  
Morad Nazari
Keyword(s):  
Rigid Body ◽  
Motion Analysis ◽  
Geometric Mechanics ◽  
Constrained Motion

Structures of the Phosphazenes [ClC(NPCl3)2]+PCl6 − and [CH3C(NPCl3)2]+SbCl6 − at 90 K

1997 ◽  
Vol 53 (6) ◽  
pp. 953-960 ◽  
Author(s):  
F. Belaj
Keyword(s):  
Rigid Body ◽  
Motion Analysis ◽  
Rigid Body Motion ◽  
Body Motion ◽  
Torsion Angles ◽  
Ionic Compounds ◽  
Intramolecular Motions

The asymmetric units of both ionic compounds [N-(chloroformimidoyl)phosphorimidic trichloridato]trichlorophosphorus hexachlorophosphate, [ClC(NPCl3)2]+PCl^{-}_{6} (1), and [N-(acetimidoyl)phosphorimidic trichloridato]trichlorophosphorus hexachloroantimonate, [CH3C(NPCl3)2]+SbCl^{-}_{6} (2), contain two formula units with the atoms located on general positions. All the cations show cis–trans conformations with respect to their X—C—N—P torsion angles [X = Cl for (1), C for (2)], but quite different conformations with respect to their C—N—P—Cl torsion angles. Therefore, the two NPCl3 groups of a cation are inequivalent, even though they are equivalent in solution. The very flexible C—N—P angles ranging from 120.6 (3) to 140.9 (3)° can be attributed to the intramolecular Cl...Cl and Cl...N contacts. A widening of the C—N—P angles correlates with a shortening of the P—N distances. The rigid-body motion analysis shows that the non-rigid intramolecular motions in the cations cannot be explained by allowance for intramolecular torsion of the three rigid subunits about specific bonds.

scholarly journals A unified approach to rigid body rotational dynamics and control

2011 ◽  
Vol 468 (2138) ◽  
pp. 395-414 ◽  
Author(s):  
Firdaus E. Udwadia ◽  
Aaron D. Schutte
Keyword(s):  
Rigid Body ◽  
Closed Form ◽  
Equations Of Motion ◽  
Fundamental Equation ◽  
Rotational Dynamics ◽  
Constrained Motion ◽  
Dynamics And Control ◽  
Common Framework ◽  
The Stability ◽  
And Control

This paper develops a unified methodology for obtaining both the general equations of motion describing the rotational dynamics of a rigid body using quaternions as well as its control. This is achieved in a simple systematic manner using the so-called fundamental equation of constrained motion that permits both the dynamics and the control to be placed within a common framework. It is shown that a first application of this equation yields, in closed form, the equations of rotational dynamics, whereas a second application of the self-same equation yields two new methods for explicitly determining, in closed form, the nonlinear control torque needed to change the orientation of a rigid body. The stability of the controllers developed is analysed, and numerical examples showing the ease and efficacy of the unified methodology are provided.

A Variationally Consistent Approach to Constrained Motion

2016 ◽  
Vol 83 (5) ◽  
Author(s):  
John T. Foster
Keyword(s):  
Rigid Body ◽  
Equations Of Motion ◽  
A Priori ◽  
Nonholonomic Systems ◽  
Rigid Body Motion ◽  
Body Motion ◽  
Constrained Motion ◽  
Consistent Approach ◽  
Holonomic And Nonholonomic Systems ◽  
D'alembert's Principle

A variationally consistent approach to constrained rigid-body motion is presented that extends D'Alembert's principle in a way that has a form similar to Kane's equations. The method results in minimal equations of motion for both holonomic and nonholonomic systems without a priori consideration of preferential coordinates.

Upper Limb Kinematical Model and Motion Analysis Method Study

2011 ◽  
Vol 308-310 ◽  
pp. 2047-2051
Author(s):  
Xin Ting Wang ◽  
Jun Xia Zhang ◽  
Li Ping Yin
Keyword(s):  
Rigid Body ◽  
Motion Analysis ◽  
Upper Limb ◽  
Daily Life ◽  
Analysis Method ◽  
Measurement And Analysis ◽  
Kinematical Model ◽  
Activity Of Daily Life ◽  
Kinematical Parameters

A 7-DOF upper limb kinematical model is built based on Rigid Body Assumption method. A protocol is proposed to measurement and analysis the motion of upper limb using the optical capturing system and a new refined spatial kinematical Parameters algorithm. 13 basic actions of Activity of daily life (ADL) are studied based on the kinematical model and protocol.

Kinematic Acquisition of Geometric Constraints for Task Centered Mechanism Design

2010 ◽  
Author(s):  
Jun Wu ◽  
Q. J. Ge ◽  
Hai-Jun Su ◽  
Feng Gao
Keyword(s):  
Mechanism Design ◽  
Motion Analysis ◽  
Geometric Constraints ◽  
Planar Motion ◽  
Dimensional Synthesis ◽  
Constrained Motion ◽  
Analysis Problem ◽  
Geometric Means ◽  
New Type ◽  
Mechanical Linkage

A motion task can be given in various ways. It may be defined parametrically or discretely in terms of an ordered sequence of displacements or in geometric means. This paper studies a new type of motion analysis problem in planar kinematics that seeks to acquire geometric constraints associated with a planar motion task which is given either parametrically or discretely. The resulting geometric constraints can be used directly for type as well as dimensional synthesis of a physical device such as mechanical linkage that generates the constrained motion task. Methods for kinematic acquisition of geometric constraints bridge the gap between type and dimensional synthesis and provide the foundation for task centered mechanism design.

Verfeinerung der Kristallstruktur des Silberperchlorats AgClO4

1979 ◽  
Vol 149 (3-4) ◽  
Author(s):  
H. J. Berthold ◽  
W. Ludwig ◽  
R. Wartchow
Keyword(s):  
Crystal Structure ◽  
Rigid Body ◽  
Motion Analysis ◽  
Structure Type ◽  
Rigid Body Motion ◽  
Body Motion ◽  
Univalent Cations

AbstractThe crystal structure of anhydrous AgClOThe structure represents a new structure type for perchlorates with Univalent cations. In contrast to the structure of the perchlorates of Na (anhydrite type) and of K, Rb, Cs, Tl, NHThe rigid body motion analysis yields r.m.s. amplitudes for the translational motions of the ClO

Path-Constrained Motion Analysis: An Algorithm to Understand Human Performance on Hydraulic Manipulators

2015 ◽  
Vol 45 (2) ◽  
pp. 187-199 ◽  
Author(s):  
Daniel Ortiz Morales ◽  
Pedro La Hera ◽  
Simon Westerberg ◽  
Leonid B. Freidovich ◽  
Anton S. Shiriaev
Keyword(s):  
Motion Analysis ◽  
Human Performance ◽  
Constrained Motion ◽  
Hydraulic Manipulators
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