A survey of equations of motion in terms of inertial quasi-velocities for serial manipulators

In this work we compare equations of motion using the so-called inertial quasi-velocities. As a result of these velocities we obtain two first-order decoupled equations of motion instead of one second-order differential equation of motion. The methods presented here, solve in a way, the problem of nonlinear dynamic decoupling. The first and the second method result from diagonalized Lagrangian robot dynamics (Jain and Rodriguez, IEEE Trans Robot Autom 11:571–584, 1995) and are known as normalized and unnormalized quasi-velocities. The third method described by Junkins and Schaub (J Astronaut Sci 45:279–295, 1997) offers eigenfactor quasi-coordinate velocities formulation for multibody dynamics. As a consequence of using transformation given by Loduha and Ravani (Trans ASME J Appl Mech 62:216–222, 1995) we obtain decoupled equations of motion in terms of modified generalized velocity components. Here we limit all these methods to serial manipulators. The novelty of this paper consists in physical interpretation of the quasi-velocities and discussion concerning equations of motion, the kinetic energy shaping, relationship between each of them and properties useful for simulation and control purposes. Also forward dynamics algorithms and their computational complexity in terms of new velocities are given. Simulation results illustrate the theoretical investigations. We conclude that all methods offer interesting possibilities for dynamic simulation and future control investigations.     

多体系统动力学Kane方法的改进

基于Kane方法, 针对约束多体系统, 建立了一种新型的自动组集系统动力学方程的方法. 首先提出偏速度矩阵和偏角速度矩阵的概念, 将各体对系统广义惯性力的贡献用简洁、统一的数学形式表达. 然后引入各个运动学变量的递推关系以提高建模效率.最后对新型的Kane方程进行扩展, 用于处理多体系统中的运动约束. 该算法适用于任意多体系统, 建立的动力学模型不含待定乘子, 维数与系统广义速率相同, 利于控制系统设计.对带有闭环约束的空间多机械臂系统的数值仿真验证了方法的正确性.      

Equations of hydromechanics and compression shock in two-velocity and two-temperature continuum with phase transformations

The equations of motion of multiphase mixtures have been considered in [1–10] and several other studies. In [1] it is proposed that the mixture motion be considered as an interpenetrating motion of several continua when velocity, pressure, mean density, concentration, etc., fields for each phase are introduced in the flowfield. The equations of motion are written separately for each phase, and the force effect of the other components is considered by introducing the interaction forces, which for the entire system are internal. The assumption of component barotropy is used to close the system.The energy equations are used in [2, 3] in place of the component barotropy assumption. Moreover, mixtures without phase transformations are considered. In [4] an analysis is made of the equations of turbulent motion with account for viscous forces for a two-velocity, but single-temperature medium in which equilibrium phase transformations are assumed, i. e., a two-phase medium is considered in which the phase temperatures are the same, the composition is equilibrium, but the phase velocities are different. In [5] the equations are written on the interface in a multicomponent medium consisting of barotropic fluids. A discontinuity classification is also presented here. In the aforementioned work [3] the equations on the shock are written for a continuum with particles without the use of the property of barotropy of the carrier fluid. Various different aspects of the motion of multiphase mixtures are considered in [6–11], for example, the effect of particle collisions with one another, the effect of the volume occupied by the particles on the parameters stream, shock waves, etc. In [7] a study is made of the force effect of an agitated medium on a particle on the basis of the Basset-Boussinesq-Oseen equation.In the following we derive the equations of motion of a two-velocity and two-temperature continuum with drops or particles with nonequilibrium phase transformations, i. e., a medium in which the phase velocities and temperatures are different and the composition may be nonequilibrium. In addition, we study the effect of the presence of particles or drops on the gas parameters behind a shock. Further, the equations obtained here are used to study compression waves, and in particular shock waves.The author wishes to thank Kh. A. Rakhmatulin, S. S. Grigoryan, and Yu. A. Buevich for helpful discussions and valuable comments.     

Hyperbolicity of Velocity-Stress Equations for Waves in Anisotropic Elastic Solids

This paper reports mathematical properties of the three-dimensional, first-order, velocity-stress equations for propagating waves in anisotropic, linear elastic solids. The velocity-stress equations are useful for numerical solution. The original equations include the equation of motion and the elasticity relation differentiated by time. The result is a set of nine, first-order partial differential equations (PDEs) of which the velocity and stress components are the unknowns. Cast into a vector-matrix form, the equations can be characterized by three Jacobian matrices. Hyperbolicity of the equations is formally proved by analyzing (i) the spectrum of a linear combination of the three Jacobian matrices, and (ii) the eigenvector matrix for diagonalizing the linearly combined Jacobian matrices. In the three-dimensional space, linearly combined Jacobian matrices are shown to be connected to the classic Christoffel matrix, leading to a simpler derivation for the eigenvalues and eigenvectors. The results in the present paper provide critical information for applying modern numerical methods, originally developed for solving conservation laws, to elastodynamics.     

移动柔性梁作用下简支梁的动力响应

对移动结构作用下梁的响应问题进行了推广,采用柔性梁作为移动结构模型,在考虑结构柔性和悬挂连接的前提下对系统的耦合振动进行了分析.根据一般边界条件梁建立振动方程,通过量纲一参数以及模态叠加法处理系统动力学方程.以简支边界条件为例,得到了梁响应的数值结果,对系统主要参数即移动结构频率、移动速度及连接刚度对简支梁振动的影响进行了讨论.结果表明:考虑移动体的柔性频率对简支梁的振动会产生一定的影响.     

Radiative transfer equation in noninertial coordinate systems

Equations are presented describing the interaction of radiation with matter in conditions of arbitrarily large nonequilibrium, both in a local satellite system within the framework of the special theory of relativity, and also in a satellite system based on generalized covariant formalism. The effects of interaction of the radiation generated with the moving material have been correctly accounted for. Calculations have been carried out for the case of a single space coordinate; generalizations to the three-dimensional case is quite easy. In [1, 3]the motion was computed in a class of inertial systems and an analysis determined the important effects associated with acceleration and spatial variation of velocity, very typical for shock waves. In [1,4] it was established how far one may calculate local noninertia in conditions close to equilibrium. An approximate derivation of the analogous equations for the case of local noninertia was given in [5].Translated from Zhurnal Prikladnoi Mekhaniki i Tekhnicheskoi Fiziki, Vol. 11, No. 1, pp. 3–11, January–February, 1970.     

Four-field Galerkin/least-squares formulation for viscoelastic fluids

A new Galerkin/Least-Squares (GLS) stabilized finite element method is presented for computing viscoelastic flows of complex fluids described by the conformation tensor; it extends the well-established GLS method for computing flows of incompressible Newtonian fluids. GLS methods are attractive for large-scale computations because they yield linear systems that can be solved easily with iterative solvers (e.g., the Generalized Minimum Residual method) and because they allow simple combinations of interpolation functions that can be conveniently and efficiently implemented on modern distributed-memory cache-based clusters.Like other state-of-the-art methods for computing viscoelastic flows (e.g., DEVSS-TG/SUPG), the new GLS method introduces a separate variable to represent the velocity gradient; with the aid of this variable, the conservation equations of mass, momentum, conformation, and the definition of velocity gradient are converted into a set of first-order partial differential equations in four unknown fields—pressure, velocity, conformation, and velocity gradient. The unknown fields are represented by low-order (continuous piecewise linear or bilinear) finite element basis functions.The method is applied to the Oldroyd-B constitutive equation and is tested in two benchmark problems—flow in a planar channel and flow past a cylinder in a channel. Results show that (1) the mesh-convergence rate of GLS is comparable to the DEVSS-TG/SUPG method; (2) the LS stabilization permits using equal-order basis functions for all fields; (3) GLS handles effectively the advective terms in the evolution equation of the conformation tensor; and (4) GLS yields accurate results at lower computational costs than DEVSS-type methods.     

On stability of stationary motion of a nonconservative nonholonomic rheonomic system

One considers, in this paper, the motion of a mechanical system in a nonstationary field of potential and positional forces, subject to the action of rheonomic holonomic and nonholonomic linear homogeneous constraints. Assuming that differential equations of motion of the system considered satisfy the conditions for the existence of Painlevé's integral of energy, formulated in [Painlevé, P., 1897. Leçons sur l'intégration des équations de la Mécanique, Paris] and [Appell, P., 1911. Traité de mécanique rationnelle, T. II, Dynamique des systémes – Mécanique analitique, Gauthier-Villars, Paris] and generalized in [Čović, V., Vesković, M., 2004. On stability of motion of a rheonomic system in the field of potential and positional forces, BAMM-1720/2004, No-2233, 93–100] and [Čović, V., Vesković, M., 2005. Hagedorn's theorem in some special cases of rheonomic systems. Mechanics Research Communications 32 (3), 265–280], the original mechanical system is substituted by an equivalent one whose Lagrangian function, nontransformed with respect to nonholonomic constraints, does not depend on time explicitly. Using the properties of the equivalent system, which, in contrast to the original one, moves in a stationary field of potential forces and in a nonstationary field of gyroscopic forces, the definition of cyclic coordinates is generalized, as well as sufficient conditions for the existence of (cyclic) first integrals, corresponding to coordinates mentioned and linear in velocities are established. Further, the conditions for the existence of steady motion of the system considered are found. In the case of existence of such a motion of the system, the Theorem of Routh's type on stability of that motion, based on the minimum of reduced potential for which it is shown that, in contrast to known cases (see, for example, [Gantmacher, F., 1975. Lectures in Analytical Mechanics. Mir Publisher, Moscow; Neimark, J., Fufaev, N., 1972. Dynamics of Nonholonomic Systems. Amer. Math. Soc., Providence, RI; Pars, L., 1962. An Introduction to Calculus of Variations. Heinemann, London; Karapetyan, A., Rumyantsev, V., 1983. Stability of conservative and dissipative systems. In: Itogi Nauki I Tekhniki: Obschaya Mekh., vol. 6, VINITI, Moscow, pp. 3–128 (in Russian)]), it includes the influence of the positional forces field, is formulated. Thus, the Routh's Theorem on stability of steady motion of a conservative mechanical system is extended to the case of a nonconservative system.     

Size-dependent vibration of functionally graded curved microbeams based on the modified strain gradient elasticity theory

On the basis of the modified strain gradient elasticity theory, the free vibration characteristics of curved microbeams made of functionally graded materials (FGMs) whose material properties vary in the thickness direction are investigated. A size-dependent first-order shear deformation beam model is developed containing three internal material length scale parameters to incorporate small-scale effect. Through Hamilton’s principle, the higher-order governing equations of motion and boundary conditions are derived. Natural frequencies of FGM curved microbeams corresponding to different mode numbers are evaluated for over a wide range of material property gradient index, dimensionless length scale parameter and aspect ratio. Moreover, the results obtained via the present non-classical first-order shear deformation beam model are compared with those of degenerated beam models based on the modified couple stress and the classical theories. It is found that the difference between the natural frequencies predicted by the various beam models is more significant for lower values of dimensionless length scale parameter and higher values of mode number.     

INVESTIGATION ON KANE DYNAMIC EQUATIONS BASED ON SCREW THEORY FOR OPEN-CHAIN MANIPULATORS

IntroductionDynamicsofroboticmanipulatorsisthebasisofdynamiccontrolandmechanicaldesignofroboticmanipulators.Dynamicanalysisofrobotscanemploytheapproachesoftheoreticalmechanicsanddynamicequationsofanalyticalmechanics,suchasNewton_Eulerdynamicequations,Lagrange_Eulerdynamicequations ,Routhequation ,Appellequation ,andKaneequations.Theultimateresultsarethesamewhenweinvestigateononekindofmotionsaboutoneobjectivebydifferentdynamicequations,butthespeedandquantitiesofcomputationoftheseequationsare…     

超薄膜磁头滑块气动力特性

采用有限差分法对广义润滑方程进行数值求解,计算出计算机磁头滑块压强场的分布情况。分析、研究了其稳态和动态气动力特性,并将计算结果分别与求解一阶、二阶修正雷诺方程所得到的结果进行了比较,得到如下三个结论:(1)当飞行高度很小,飞行速度较低时,必须采用广义润滑方程进行磁头滑块的气动力计算,(2)与广义润滑方程结果比较,求解一阶修正雷诺方程所得到的计算结果总是偏高,而求解二阶修正雷诺方程所得到的计算结果总是偏低。此外,还解决了大压缩数下数值失稳问题,使得压缩数可以计算到120万,足以适应任何实际工程的需要。     

可折叠航天结构展开动力学分析

以欧拉参数为广义坐标（准坐标）,相对角速度和相对移动速度为广义速率,采用Ｋａｎｅ方程的Ｈｕｓｔｏｎ形式建立多体系统的运动力学方程。由伪上三角分解求约束Ｊａｃｏｂｉ矩阵的正交补阵,约简约束力,从而将运动方程由微分几何方程（ＤＡＥ）变为常微分方程（ＯＤＥ）,并由Ｇｅａｒ法对ＯＤＥ积分求出运动历程。最后给出一伸展臂数值分析算例。     

Bending and vibration analyses of a rotating sandwich cylindrical shell considering nanocomposite core and piezoelectric layers subjected to thermal and magnetic fields

The bending and free vibration of a rotating sandwich cylindrical shell are analyzed with the consideration of the nanocomposite core and piezoelectric layers subjected to thermal and magnetic fields by use of the first-order shear deformation theory (FSDT) of shells. The governing equations of motion and the corresponding boundary conditions are established through the variational method and the Maxwell equation. The closed-form solutions of the rotating sandwich cylindrical shell are obtained. The effects of geometrical parameters, volume fractions of carbon nanotubes, applied voltages on the inner and outer piezoelectric layers, and magnetic and thermal fields on the natural frequency, critical angular velocity, and deflection of the sandwich cylindrical shell are investigated. The critical angular velocity of the nanocomposite sandwich cylindrical shell is obtained. The results show that the mechanical properties, e.g., Young’s modulus and thermal expansion coefficient, for the carbon nanotube and matrix are functions of temperature, and the magnitude of the critical angular velocity can be adjusted by changing the applied voltage.     

Detached flow over a step with the formation of a turbulent wake

A method of calculating the plane turbulent layer behind a step interacting with a free potential flow of incompressible fluid is developed. The method includes consideration of the initial boundary layer and injection (or suction) in the isobaric bottom region. Friction on the wall behind the step is neglected, which corresponds to symmetric quasisteady flow behind the straight edge of a plate. The inviscid flow is represented by the Keldysh-Sedov integral equations; the flow in the wake with a one-parameter velocity profile is represented by three first-order differential equations—the equations of momentum for the wake and motion along its axis and the equation of interaction (through the displacement thickness) of the viscous flow with the external potential flow. The turbulent friction in the wake is given, accurate to the single empirical constant, by the Prandtl equation. The different flow regions — on the plate behind the step, the isobaric bottom region, and the wake region — are joined with the aid of the quasi-one-dimensional momentum equation for viscous flow. The momentum equation for the flow as a whole serves as the closure condition. The obtained integrodifferential system of equations is approximated by a system of nonlinear finite-difference equations, whose solution is obtained on a computer by minimization of the sum of the squares of the discrepancies. The results of the calculations agree satisfactorily with experimental data.Translated from Izvestiya Akademii Nauk SSSR, Mekhanika Zhidkosti i Gaza, No. 3, pp. 17–25, May–June, 1977.We are grateful to V. I. Kuptsov for consultation and help in programming and to Z. A. Donskova who assisted in the calculations and preparation of the paper.     

Laminar boundary layer on the moving surface of a rankine oval

A numerical investigation has been made of the laminar boundary layer that arises on the moving surface of a cylindrical body (Rankine oval with relative elongation 4) that moves with constant velocity in an incompressible fluid. The distributions of the frictional stress on the surface of the cylinder for different velocities of the wall motion are found. Numerical integration was employed to determine the work needed to overcome the frictional drag, the pressure, and also the work expended on the motion of the moving surface of the body in the case of constant velocity. In the presence of a separation region the drag forces are calculated under the assumption that in the separation region the pressure and the frictional stress on the wall are constant and equal to the corresponding values at the singular point of the solution of the boundary layer equations.Translated from Izvestiya Akademii Nauk SSSR, Mekhanika Zhidkosti i Gaza., No. 3, pp. 171–174, May–June, 1984.I thank G. G. Chernyi for constant interest in the work and discussing the results.     

多体系统指标2运动方程HHT方法违约校正1）

采用Cartesian绝对坐标建模方法,完整约束多体系统运动方程是指标3的微分--代数方程（differentialalgebraic equations,DAEs）,数值求解指标3的DAEs属于高指标问题,通过对位置约束方程求导,可使运动方程的指标降为2.位置约束方程求导得到的是速度约束方程.直接求解指标3的运动方程,速度约束方程得不到满足,而且高指标DAEs的数值求解存在一些问题.论文首先采用HHT（Hilber--Hughes--Taylor）直接积分方法求解降指标得到的指标2运动方程,此时速度约束方程参与离散计算,从机器精度上讲速度约束自然得到满足,而位置约束方程没有参与计算,存在“违约”.针对违约问题,采用基于Moore--Penrose广义逆理论的违约校正方法,消除位置约束方程的违约.指标2运动方程HHT方法违约校正,将HHT方法和违约校正方法很好地结合,在数值求解指标2运动方程的过程中,位置约束方程和速度约束方程都不存在违约问题,而且新方法没有引入新的未知数向量,离散得到的非线性方程组的方程数量与原指标2运动方程的方程数量相同,求解规模没有扩大.新方法的实用和有效性通过算例的数值实验得到验证,数值实验也说明新方法保持了HHT方法本身具有的数值阻尼可以控制和二阶精度的特性.最后从非线性方程组的求解规模和计算速度上与其他方法进行了比较分析,说明新方法的优势所在.     

Wave Dynamics of Saturated Porous Media and Evolutionary Equations

Nonlinear wave dynamics of an elastically deformed saturated porous media is investigated following the Biot approach. Mathematical models under research are the Biot model and its generalization by consideration of viscous stresses inside liquids. Using two-scales and linear WKB methods, the classical Biot system is transformed to a first-order wave equation. To construct the solution of the other system, an asymptotic modified two-scales method is developed. Initial system of equations is transformed to a nonlinear generalized Korteweg–de Vries–Burgers equation for quick elastic wave. Distinctions of wave propagation in the context of the Biot model and its generalization are shown.     

空间机械臂载体与末端抓手协调运动的鲁棒与自适应混合控制方案

研究载体位置不受控制的空间机械臂载体与末端抓手协调运动的控制问题，结合系统动量守恒关系，建立了均与适当选择的惯性参数呈线性关系的系统动力学方程及协调运动的广义Jacobj矩阵，基于上述结果，针对系统中惯性参数不确定的情况，设计了载体姿态与机械臂末端抓手惯性空间轨迹协调运动的鲁棒与自适应混合控制方案，提出的控制方案具有不需要测量、反馈载体的位置、移动速度、移动加速度的优点，并由于对不确定参数采用保持鲁棒性的方式，减少了计算量，仿真运算证实了提出的控制方法的有效性。