scholarly journals ON INERTIAL MOTION OF AN ABSOLUTELY RIGID BODY ON A THREE-DEGREE SUSPENSION WITH LINKS OF FINITE LENGTH

2020 ◽  
Vol 2 (2) ◽  
pp. 6-17
Author(s):  
L Akulenko ◽  
◽  
N Bolotnik ◽  
D Leshchenko ◽  
E Palii ◽  
...  
Keyword(s):  
Rigid Body ◽  
Degrees Of Freedom ◽  
Exact Analytical Solution ◽  
Rigid Bodies ◽  
The Body ◽  
Theoretical Research ◽  
Double Pendulum ◽  
Two Degrees Of Freedom ◽  
Practical Applications ◽  
Wide Range

Papers on the dynamics of an absolutely rigid body with a fixed point generally assume that the mechanical system has three degrees of freedom. This is the situation when the body is attached to a fixed base by a ball-and-socket joint. On engineering systems one often encounters rigid bodies attached to a base by a two-degrees-of-freedom joint, consisting of a fixed axis and a movable one, which are mutually perpendicular. Such systems have two degrees of freedom, but the set of kinematically possible motions is quite rich. Dynamic analysis of the motion of a rigid body with a two-degree hinge in a force field is an integral part of the description of the action of mechanical actions of robotic systems. In recent decades, an increasingly closed role in the dynamics of rigid body systems has been played by manipulation robots consisting of a sequential chain of rigid links and controlled by means of torque drives in articulated joints. The same class of objects can be attributed to many biological systems that imitate, for example, the movements of a person or animal (walking, running, jumping). Two-link systems have a variety of practical applications and an almost equally wide range of areas of theoretical research. We note, in particular, the analysis of free and forced plane-parallel motion of a bundle of two rigid bodies connected by an ideal cylindrical hinge and simulating a composite satellite in outer space, a two-link manipulator, and an element of a crushing machine. The dynamic behavior of a rigid body in the gimbal suspension is a system, which can be interpreted as two-degree manipulator and used an element of more complex robotic structures. The linear mathematical model of two-link manipulator free oscillations with viscous friction in both its joints is a system, which reduces to the calculation scheme of double pendulum and allows the construction of exact analytical solution in the partial case. According to the research methodology, the proposed paper is close to works, where the motion by inertia of a plane two–rigid body hinged system was studied and devoted to the study of the motion of an absolutely rigid body on a power-to-power joint.

Instantaneous Properties of Multi-Degrees-of-Freedom Motions—Line Trajectories

1987 ◽  
Vol 109 (1) ◽  
pp. 116-124 ◽  
Author(s):  
Ashitava Ghosal ◽  
Bernard Roth
Keyword(s):  
Rigid Body ◽  
General Framework ◽  
Degrees Of Freedom ◽  
Rigid Bodies ◽  
Two Degrees Of Freedom ◽  
Global Properties ◽  
New Concepts ◽  
Line Trajectory

A general framework is presented for the study of the properties of trajectories generated by lines embedded in rigid bodies undergoing multi-degrees-of-freedom motions. Several new concepts, such as a line’s angular and linear velocities and accelerations, are introduced and used to (1) characterize the differences between line trajectories generated by different mechanisms; (2) distinguish trajectories generated by different lines in the same rigid body; (3) distinguish properties at different positions in the same trajectory. Line trajectories are classified according to the number of degrees of freedom of the motion, and local and global properties are discussed. These techniques are illustrated in an example of a line trajectory generated by a two-degrees-of-freedom manipulator.

On Singularity of Rigid-Body Dynamics Using Quaternion-Based Models

2012 ◽  
Vol 79 (2) ◽  
Author(s):  
Homin Choi ◽  
Bingen Yang
Keyword(s):  
Dynamic Response ◽  
Rigid Body ◽  
Dynamic Modeling ◽  
Degrees Of Freedom ◽  
Rigid Bodies ◽  
Rigid Body Dynamics ◽  
The Body ◽  
Applied Torque ◽  
Body Dynamics

It is well known that use of quaternions in dynamic modeling of rigid bodies can avoid the singularity due to Euler rotations. This paper shows that the dynamic response of a rigid body modeled by quaternions may become unbounded when a torque is applied to the body. A theorem is derived, relating the singularity to the axes of the rotation and applied torque, and to the degrees of freedom of the body in rotation. To avoid such singularity, a method of equivalent couples is proposed.

scholarly journals Analysis of Dynamic Response of a Two Degrees of Freedom (2-DOF) Ball Bearing Nonlinear Model

2021 ◽  
Vol 11 (2) ◽  
pp. 787
Author(s):  
Bartłomiej Ambrożkiewicz ◽  
Grzegorz Litak ◽  
Anthimos Georgiadis ◽  
Nicolas Meier ◽  
Alexander Gassner
Keyword(s):  
Mathematical Model ◽  
Degrees Of Freedom ◽  
Ball Bearing ◽  
Hertzian Contact ◽  
Two Degrees Of Freedom ◽  
Wide Range ◽  
Shape Errors ◽  
Nonlinear Features ◽  
Fourier Transform Phase ◽  
Hertzian Contact Theory

Often the input values used in mathematical models for rolling bearings are in a wide range, i.e., very small values of deformation and damping are confronted with big values of stiffness in the governing equations, which leads to miscalculations. This paper presents a two degrees of freedom (2-DOF) dimensionless mathematical model for ball bearings describing a procedure, which helps to scale the problem and reveal the relationships between dimensionless terms and their influence on the system’s response. The derived mathematical model considers nonlinear features as stiffness, damping, and radial internal clearance referring to the Hertzian contact theory. Further, important features are also taken into account including an external load, the eccentricity of the shaft-bearing system, and shape errors on the raceway investigating variable dynamics of the ball bearing. Analysis of obtained responses with Fast Fourier Transform, phase plots, orbit plots, and recurrences provide a rich source of information about the dynamics of the system and it helped to find the transition between the periodic and chaotic response and how it affects the topology of RPs and recurrence quantificators.

scholarly journals The Dynamical Behavior of a Rigid Body Relative Equilibrium Position

2017 ◽  
Vol 2017 ◽  
pp. 1-13 ◽  
Author(s):  
T. S. Amer
Keyword(s):  
Rigid Body ◽  
Degrees Of Freedom ◽  
Numerical Solutions ◽  
Equations Of Motion ◽  
Relative Equilibrium ◽  
Dynamical Behavior ◽  
Vertical Plane ◽  
The Body ◽  
Physical Parameters ◽  
Pendulum Model

In this paper, we will focus on the dynamical behavior of a rigid body suspended on an elastic spring as a pendulum model with three degrees of freedom. It is assumed that the body moves in a rotating vertical plane uniformly with an arbitrary angular velocity. The relative periodic motions of this model are considered. The governing equations of motion are obtained using Lagrange’s equations and represent a nonlinear system of second-order differential equations that can be solved in terms of generalized coordinates. The numerical solutions are investigated using the fourth-order Runge-Kutta algorithms through Matlab packages. These solutions are represented graphically in order to describe and discuss the behavior of the body at any instant for different values of the physical parameters of the body. The obtained results have been discussed and compared with some previous published works. Some concluding remarks have been presented at the end of this work. The importance of this work is due to its numerous applications in life such as the vibrations that occur in buildings and structures.

Contact-space resolution model for a physically consistent view of simultaneous collisions in articulated-body systems: theory and experimental results

2020 ◽  
Vol 39 (10-11) ◽  
pp. 1239-1258
Author(s):  
Shameek Ganguly ◽  
Oussama Khatib
Keyword(s):  
System Dynamics ◽  
Rigid Body ◽  
Degrees Of Freedom ◽  
Null Space ◽  
Rigid Bodies ◽  
Computationally Efficient ◽  
Space Resolution ◽  
Resolution Model ◽  
Space Dynamics ◽  
Contact Space

Multi-surface interactions occur frequently in articulated-rigid-body systems such as robotic manipulators. Real-time prediction of contact-interaction forces is challenging for systems with many degrees of freedom (DOFs) because joint and contact constraints must be enforced simultaneously. While several contact models exist for systems of free rigid bodies, fewer models are available for articulated-body systems. In this paper, we extend the method of Ruspini and Khatib and develop the contact-space resolution (CSR) model by applying the operational space theory of robot manipulation. Through a proper choice of contact-space coordinates, the projected dynamics of the system in the contact space is obtained. We show that the projection into the dynamically consistent null space preserves linear and angular momentum in a subspace of the system dynamics complementary to the joint and contact constraints. Furthermore, we illustrate that a simultaneous collision event between two articulated bodies can be resolved as an equivalent simultaneous collision between two non-articulated rigid bodies through the projected contact-space dynamics. Solving this reduced-dimensional problem is computationally efficient, but determining its accuracy requires physical experimentation. To gain further insights into the theoretical model predictions, we devised an apparatus consisting of colliding 1-, 2-, and 3-DOF articulated bodies where joint motion is recorded with high precision. Results validate that the CSR model accurately predicts the post-collision system state. Moreover, for the first time, we show that the projection of system dynamics into the mutually complementary contact space and null space is a physically verifiable phenomenon in articulated-rigid-body systems.

Die Pauli-Gleichung mit Differentialoperatoren für den Spin/ The Pauli Equation with Differential Operators for the Spin

1978 ◽  
Vol 33 (10) ◽  
pp. 1133-1150
Author(s):  
Eberhard Kern
Keyword(s):  
Angular Momentum ◽  
Rigid Body ◽  
Differential Operators ◽  
Spin Operator ◽  
Rigid Bodies ◽  
The Body ◽  
Wave Functions ◽  
Pauli Equation ◽  
Spin Eigenfunctions ◽  
Cartesian Coordinate

The spin operator s = (ħ/2) σ in the Pauli equation fulfills the commutation relation of the angular momentum and leads to half-integer eigenvalues of the eigenfunctions for s. If one tries to express s by canonically conjugated operators Φ and π = (ħ/i) ∂/∂Φ the formal angular momentum term s = Φ X π fails because it leads only to whole-integer eigenvalues. However, the modification of this term in the form s = 1/2 {π + Φ(Φ π) + Φ X π} leads to the required result.The eigenfunction system belonging to this differential operator s(Φ π) consists of (2s + 1) spin eigenfunctions ξm (Φ) which are given explicitly. They form a basis for the wave functions of a particle of spin s. Applying this formalism to particles with s = 1/2, agreement is reached with Pauli’s spin theory.The function s(Φ π) follows from the theory of rotating rigid bodies. The continuous spinvariable Φ = ((Φx , Φy, Φz) can be interpreted classically as a “turning vector” which defines the orientation in space of a rigid body. Φ is the positioning coordinate of the rigid body or the spin coordinate of the particle in analogy to the cartesian coordinate x. The spin s is a vector fixed to the body.

A Numerical Investigation of the Response of an Elastically Mounted Rigid Cylinder With Two Degrees of Freedom

2010 ◽  
Author(s):  
Bruno C. Ferreira ◽  
Marcelo A. Vitola ◽  
Juan B. V. Wanderley ◽  
Sergio H. Sphaier ◽  
Carlos A. Levi
Keyword(s):  
Experimental Data ◽  
Phase Angle ◽  
Degrees Of Freedom ◽  
Stokes Equations ◽  
Lift Coefficient ◽  
The Body ◽  
Curvilinear Coordinates ◽  
Two Degrees Of Freedom ◽  
Conservative Scheme ◽  
Rigid Cylinder

The vortex induced vibration (VIV) on a circular cylinder is investigated by the numerical solution of the Reynolds average Navier-Stokes equations. An upwind and Total Variation Diminishing (TVD) conservative scheme is used to solve the governing equations written in curvilinear coordinates and the k–ε turbulence model is used to simulate the turbulent flow in the wake of the body. The cylinder is supported by a spring and a damper and free to vibrate in the transverse and in-line directions. In previous work, numerical results for the amplitude of oscillation, vortex shedding frequency, and phase angle between lift and displacement were compared to experimental data obtained from Khalak and Williamson (1996) to validate the code for VIV simulations in the transverse direction. In the present work, results are obtained for phase angle, amplitude, frequency, and lift coefficient and compared to experimental data from Jauvtis and Williamson (2003) for an elastically mounted rigid cylinder with two degrees of freedom. Differences in the amplitude of oscillation between experimental and numerical data were observed for both direction. It seems that the fluid flow memory effect is an important aspect that should be taken in consideration on numerical simulation to reproduce the experimental results for VIV with 2DOF as pointed out by Moe and Wu [1].

SYMMETRY-BREAKING BIFURCATIONS IN STOPPELLI’S PROBLEM FOR PSEUDO-RIGID BODIES

1995 ◽  
Vol 05 (05) ◽  
pp. 683-724
Author(s):  
JOHN F. PIERCE
Keyword(s):  
Symmetry Breaking ◽  
Rigid Body ◽  
Rigid Bodies ◽  
The Body ◽  
Natural State ◽  
Group Orbit

The work examines what changes can occur to the orbit of trivially equilibrating configurations for a pseudo-rigid body possessing a natural state when perturbing loads are applied. The question is analyzed by formulating it as a problem of bifurcation on a group orbit to which the theory of singularities applies. The analysis indicates how alterations of the orbit depend upon features of the perturbing load, and of the material composing the body.

Flight performance and visual control of flight of the free-flying housefly ( Musca domestica L.) I. Organization of the flight motor

1986 ◽  
Vol 312 (1158) ◽  
pp. 527-551 ◽  
Keyword(s):  
Coordinate System ◽  
Degrees Of Freedom ◽  
Dimensional Space ◽  
Three Dimensional ◽  
Rigid Bodies ◽  
The Body ◽  
Midsagittal Plane ◽  
Torque Vector ◽  
Translation Velocity ◽  
Flight Motor

Free-flying houseflies have been filmed simultaneously from two sides. The orientation of the flies’ body axes in three-dimensional space can be seen on the films. A method is presented for the reconstruction of the flies’ movements in a fly-centred coordinate system, relative to an external coordinate system and relative to the airstream. The flies are regarded as three-dimensionally rigid bodies. They move with respect to the six degrees of freedom they thus possess. The analysis of the organization of the flight motor from the kinematic data leads to the following conclusions: the sideways movements can, at least qualitatively, be explained by taking into account the sideways forces resulting from rolling the body about the long axis and the influence of inertia. Thus, the force vector generated by the flight motor is most probably located in the fly’s midsagittal plane. The direction of this vector can be varied by the fly in a restricted range only. In contrast, the direction of the torque vector can be freely adjusted by the fly. No coupling between the motor force and the torques is indicated. Changes of flight direction may be explained by changes in the orientation of the body axes: straight flight at an angle of sideslip differing from zero is due to rolling. Sideways motion during the banked turns as well as the decrease of translation velocity observed in curves are a consequence of the inertial forces and rolling. The results are discussed with reference to studies about the aerodynamic performance of insects and the constraints for aerial pursuit.

Rigid body refinements in GSAS/EXPGUI

2011 ◽  
Vol 26 (S1) ◽  
pp. S13-S21 ◽  
Author(s):  
Charles H. Lake ◽  
Brian H. Toby
Keyword(s):  
Rigid Body ◽  
Software Package ◽  
Degrees Of Freedom ◽  
Rigid Bodies ◽  
Atomic Motion ◽  
Bond Lengths

Rigid bodies provide a way to simplify the model used in a crystallographic refinement by removing parameters that describe degrees of freedom that are unlikely to change based on chemical experience. The GSAS software package provides a powerful implementation of rigid bodies that allows for refinement of classes of bond lengths, grouping of bodies to further reduce parameterization and where atomic motion can be described from group displacement parameters (TLS) representation. However, use of rigid bodies in GSAS is complex to learn and time-consuming to perform. This paper describes how the rigid body definition process has been simplified and extended through implementation in the EXPGUI interface to GSAS.

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