On the efficacy of pseudo-coordinates—Part 2: moving boundary constraints

In this paper an argument is presented in favor of utilizing felicitous or natural coordinates in the model formulation of complex hybrid parameter multiple body mechanical systems (HPMBS). Specifically for this paper, HPMBS that consist of continuua that are subjected to spatially and temporally varying non-holonomic boundary conditions. This is the second paper of a two part series of papers that is presented to clarify the novelty and usefulness of a recently developed Gibbs-Appell type projection based HPMBS modeling tool. The purpose of the paper is to show that with the novel use of pseudo-coordinates and speeds (as defined by the author) it is completely natural to provide minimal configuration space dimensionality yet still retain rigorous analytical formulation tractability.Presented in this work, as a demonstrative arguing point, is the development of the hybrid parameter motion equations for a rolling flexible-disk material cutting device. This device consists of a circular flexible continuum (the cutter) along with the requisite mounting rigid hub and handle. This non-holonomically constrained device is modeled executing spatial motion constrained to the plane via moving constraints applied to the boundary of the planar continuum. Also included in this work are numerical results bolstering the claims made herein. These numerical results demonstrate that the methodology elucidated provides low-order models suitable for modeling complicated devices. These low-order models are in contrast to the current modeling trend of ever-increasing degrees of freedom.     

Systematic closed form modeling of hybrid parameter multiple body systems

Presented in this paper is a systematic approach to modeling non-holonomic hybrid parameter multiple body systems. The continuum bodies are represented with the postulates usually associated to the non-linear theories, the Timoshenko (like) beam theories, the higher order plate and shell theories, and the rational theories (e.g. rods) with intrinsic rotary inertia properties.The methodology is an extension of previous work. It is founded in variational principles, but uses vector algebra to eliminate tedium. The variational nature of the methodology allows rigorous equation formulation providing not only the complete non-linear hybrid differential equations, but also the boundary conditions. The methodology is formulated satisfying general non-holonomic constraints; it produces a minimal realization. The spatial dimensions of the continuua are not restricted and the inter-body connections are completely general.To demonstrate the application of the technique, a two-link elastic pendulum or manipulator is modeled. The algorithmic modeling steps are demonstrated. Numerical simulations are presented.     

Tracking control for underactuated non-minimum phase multibody systems

Nonlinear Dynamics - We consider tracking control for multibody systems which are modeled using holonomic and non-holonomic constraints. Furthermore, the systems may be underactuated and contain...     

Nielsen's and Euler's operators of higher order in analytical mechanics

In this paper, the definitions of Nielsen’s and Euler’s operators of higher order are presented. These operators are concerned in analysis for systems with holonomic constraints and non-holonomic constraints of higher order. Some theorems that indicating relation between the two operators are established. Moreover, using the theorems, the new equations of mechanical systems with constraints of higher order are derived. Finally, an example is given.     

Numerical simulation of nonholonomic rigid-body systems

The paper proposes computer algebra system (CAS) algorithms for computer-assisted derivation of the equations of motion for systems of rigid bodies with holonomic and nonholonomic constraints that are linear with respect to the generalized velocities. The main advantages of using the D’Alembert-Lagrange principle for the CSA-based derivation of the equations of motion for nonholonomic systems of rigid bodies are demonstrated. Among them are universality, algorithmizability, computational efficiency, and simplicity of deriving equations for holonomic and nonholonomic systems in terms of generalized coordinates or pseudo-velocities __________ Translated from Prikladnaya Mekhanika, Vol. 42, No. 9, pp. 106–115, September 2006.     

Finite and impulsive motion of constrained mechanical systems via Jourdain's principle: discrete and hybrid parameter models

The main purpose of this paper is to present a unified analytical dynamics framework for the analysis of finite and impulsive motion of mechanical systems using Jourdain's principle. Emphasis is given to the general case when a mechanical system is described by a hybrid (discrete-distributed) parameter model. A large group of finite and impulsive, generally non-holonomic, constraints are analysed in detail and a so-called extended Appellian classification is presented for these constrained motion problems. The fundamental dynamic equation of constrained systems is developed in terms of velocity variations (Jourdain's principle). Based on this equation and the constraints, the methods of quasivelocities and Lagrangian multipliers are adopted and interpreted for the finite motion of hybrid parameter models of mechanical systems; and the methods of independent quasivelocity variations and Lagrangian multipliers are introduced for the analysis of impulsive motion of such models. To illustrate the proposed material, an example of a one-link flexible arm intercepting and capturing a moving target is considered.     

Some extremum properties of finite-step solutions inelastoplasticity

For the nonholonomic elastic–plastic problem under a given external action history overa time interval, an extremal formulation is given in terms of the complete solution over the wholeinterval. The assumed elastic–plastic behaviour is of the associated type with piecewiselinearized yield surface and linear hardening.When the loading history is reduced to an infinitesimal increment of the external actions(incremental problem) or when the material behaviour is assumed to be of the holonomic type (finite holonomic step) problem, the functional of the extremal formulation may be split into thesum of two other simpler functionals (previously introduced) whose minimum, for both of them,gives the problem solution under less constraints than in the original problem.For general non-holonomic loading histories the above splitting is shown to be still possiblewhen a particular change of the complementarity condition of the constitutive law is considered,which leads to a new class of holonomic problems.It is shown that some problems of this new class, together with a suitable time discretization,represent the schematization of the original problem corresponding to well known numericalintegration schemes.     

基于对偶变量变分原理的完整约束系统保辛算法

基于对偶变量变分原理，选择积分区间两端位移为独立变量，构造了求解完整约束哈密顿动力系统的高阶保辛算法。首先，利用拉格朗日多项式对作用量中的位移、动量及拉格朗日乘子进行近似；然后，对作用量中不包含约束的积分项采用Gauss积分近似，对作用量中包含约束的积分项采用Lobatto积分近似，从而得到近似作用量；最后，在此近似作用量的基础上，利用对偶变量变分原理，将求解完整约束哈密顿动力系统问题转化为一组非线性方程组的求解。算法具有保辛性和高阶收敛性，能够在位移的插值点处高精度地满足完整约束。算法的收敛阶数及数值性质通过数值算例验证。     

Form invariance, Noether symmetry and Lie symmetry of Hamiltonian systems in phase space

For the holonomic and non-holonomic Hamiltonian systems in phase space, the definitions and criterions of the form invariance of both Hamilton and generalized Hamilton canonical equations are given. The relations among the form invariance, Noether symmetry and Lie symmetry are studied. Two examples are given to illustrate these results.     

On new forms of motive differential equations of a mechanical system relative to non-inertial frame

Based on D'Alembert's principle of a mechanical system relative to non-inertial frame and by introducing the concept of the generalized inertial potential, new forms of differential equations of motion of a mechanical system with holonomic and the non-holonomic constraints relative to the non-inertial frame are obtained. The merits and demerits between our method and the Newtonian dynamic method as well as the analytic dynamic method are discussed comparatively. Finally, two examples are given to illustrate the application of the motive differential equations in the new forms.     

Extension of Whittaker equations to non-holonomic mechanical systems

In 1904, using the energy integral Whittaker studied the reduction of a dynamical problem to a problem with fewer degrees of freedom for the holonomic conservative systems and obtained the Whittaker equation^[1].In this article, Whittaker equations are extended to non-holonomic systems and the generalized Whittaker equations are obtained. And then these equations are transformed into Kiel-sen’s form.Finally an example is given.     

Weak formulation and first order form of the equations of motion for a class of constrained mechanical systems

Some new theoretical results are presented on modeling the dynamic response of a class of discrete mechanical systems subject to equality motion constraints. Both the development and presentation are facilitated by employing some fundamental concepts of differential geometry. At the beginning, the equations of motion of the corresponding unconstrained system are presented on a configuration manifold with general properties, first in strong and then in a primal weak form, using Newton׳s law of motion as a foundation. Next, the final weak form is obtained by performing a crucial integration by parts step, involving a covariant derivative. This step required the clarification and enhancement of some concepts related to the variations employed in generating the weak form. The second part of this work is devoted to systems involving holonomic and non-holonomic scleronomic constraints. The equations of motion derived in a recent study of the authors are utilized as a basis. The novel characteristic of these equations is that they form a set of second order ordinary differential equations (ODEs) in both the coordinates and the Lagrange multipliers associated to the constraint action. Based on these equations, the corresponding weak form is first obtained, leading eventually to a consistent first order ODE form of the equations of motion. These equations are found to appear in a form resembling the form obtained after application of the classical Hamilton׳s canonical equations. Finally, the new theoretical findings are illustrated by three representative examples.     

Finite-time optimal formation tracking control of vehicles in horizontal plane

This paper studies the problem of finite-time optimal formation tracking for planar vehicles which are considered as rigid bodies, under the condition that the tracking time is given according to task requirements in advance. By using Pontryagin’s maximum principle (PMP) on a Lie group, an optimal control law is designed for vehicles with holonomic dynamics to track a desired reference trajectory at the given tracking time in the manner of rigid formation which is also specified by task requirements. Simultaneously, a corresponding cost function is considered and guaranteed to be optimal. Then, the above mentioned result of tracking is extended to the case of multi-vehicle systems with a directed-tree communication topology. Furthermore, some conditions are proposed to ensure the adjoint orbits of vehicles to be non-holonomic. Finally, the numerical simulations are provided to illustrate the effectiveness of the theoretical results.     

Non-holonomic mechanics: A geometrical treatment of general coupled rolling motion

In the presented paper, a problem of non-holonomic constrained mechanical systems is treated. New methods in non-holonomic mechanics are applied to a problem of a general coupled rolling motion. Two goals are stressed.The first of them lies in the solution of an originally formulated problem of rolling motion of two rigid cylindrical bodies in the homogeneous gravitational field leading typically to non-linear equations of motion. A solid cylinder can roll inside a ring under the static frictional force assuring rolling without slipping, the ring rolls again without slipping along a generally shaped terrain formed by hills and valleys. “Surprising behaviour” of the mechanical system which permits interesting applications is studied and discussed.The second purpose of the paper is to show that the geometrical theory of non-holonomic constrained systems on fibered manifolds proposed and developed in the last decade by Krupková and others is an effective tool for solving non-holonomic mechanical problems. A comparison of this method to alternative methods is given and the benefits of coordinate-free formulation are mentioned.In this paper, the geometrical theory is applied to the abovementioned mechanical problem. Both types of equations of motion resulting from the theory—deformed equations with the so-called Chetaev-type constraint forces containing Lagrange multipliers, and reduced equations free from multipliers—are found and discussed. Numerical solutions for two particular cases of the motion of the cylindrical system along a cylindrical surface are presented.     

Stability case study of the ACROBOTER underactuated service robot

The dynamics of classical robotic systems are usually described by ordinary differential equations via selecting a minimum set of independent generalized coordinates. However, different parameterizations and the use of a nonminimum set of (dependent) generalized coordinates can be advantageous in such cases when the modeled device contains closed kinematic loops and/or it has a complex structure. On one hand, the use of dependent coordinates, like natural coordinates, leads to a different mathematical representation where the equations of motion are given in the form of differential algebraic equations. On the other hand, the control design of underactuated robots usually relies on partial feedback linearization based techniques which are exclusively developed for systems modeled by independent coordinates. In this paper, we propose a different control algorithm formulated by using dependent coordinates. The applied computed torque controller is realized via introducing actuator constraints that complement the kinematic constraints which are used to describe the dynamics of the investigated service robotic system in relatively simple and compact form. The proposed controller is applied to the computed torque control of the planar model of the ACROBOTER service robot. The stability analysis of the digitally controlled underactuated service robot is provided as a real parameter case study for selecting the optimal control gains.     

An index 0 differential-algebraic equation formulation for multibody dynamics: Nonholonomic constraints

A method is presented for formulating and numerically integrating index 0 differential-algebraic equations of motion for multibody systems with holonomic and nonholonomic constraints. Tangent space coordinates are defined in configuration and velocity spaces as independent generalized coordinates that serve as state variables in the formulation. Orthogonal dependent coordinates and velocities are used to enforce position, velocity, and acceleration constraints to within specified error tolerances. Explicit and implicit numerical integration algorithms are presented and used in solution of three examples: one planar and two spatial. Numerical results verify that accurate results are obtained, satisfying all three forms of kinematic constraint to within error tolerances embedded in the formulation.     

Elastic–plastic and limit-state analyses of frames with softening plastic-hinge models by mathematical programming

Frames (and more general beam systems) subjected to monotonic loading are modelled by conventional finite elements with the traditional assumption of possible plastic deformations concentrated in pre-selected “critical sections”. The inelastic behaviour of these beam sections, i.e. the development of “plastic hinges”, is described by piece-wise-linear constitutive models allowing for hardening and/or softening, in terms of generalized stresses and conjugate kinematic variables.The following topics are discussed: step-by-step analysis methods, both “exact” and stepwise holonomic; path bifurcations and overall stability; limit and deformation analyses combined, as an optimization problem under complementarity constraints apt to compute the safety factor (with respect to global or local failures); numerical tests of nonconventional algorithms by means of simple representative applications.The objective of the paper is to provide a unified methodology and to propose novel procedures for inelastic analyses of frames up to failure, in the light of recent results in mathematical programming, particularly on complementarity theory.     

有多余坐标完整系统的自由运动

对于完整力学系统,若选取的参数不是完全独立的,则称为有多余坐标的完整系统. 由于完整力学系统的第二类Lagrange 方程中没有约束力,故为研究完整力学系统的约束力,需采用有多余坐标的带乘子的Lagrange方程或第一类Lagrange 方程. 一些动力学问题要求约束力不能为零,而另一些问题要求约束力很小. 如果约束力为零,则称为系统的自由运动问题. 本文提出并研究了有多余坐标完整系统的自由运动问题. 为研究系统的自由运动,首先,由d'Alembert-Lagrange 原理, 利用Lagrange 乘子法建立有多余坐标完整系统的运动微分方程;其次,由多余坐标完整系统的运动方程和约束方程建立乘子满足的代数方程并得到约束力的表达式;最后,由约束系统自由运动的定义,令所有乘子为零,得到系统实现自由运动的条件. 这些条件的个数等于约束方程的个数,它们依赖于系统的动能、广义力和约束方程,给出其中任意两个条件,均可以得到实现自由运动时对另一个条件的限制. 即当给定动能和约束方程,这些条件会给出实现自由运动时广义力之间的关系. 当给定动能和广义力,这些条件会给出实现自由运动时对约束方程的限制. 当给定广义力和约束方程,这些条件会给出实现自由运动时对动能的限制. 文末,举例并说明方法和结果的应用.      

Another form of equations of motion for constrained multibody systems

This paper presents a new and simplified set of explicit equations of motion for constrained mechanical systems. The equations are applicable with both holonomic and nonholonomic systems and the constraints may, or may not, be ideal. It is shown that this set of equations is equivalent to governing equations developed earlier by others. The connection of these equations with Kane's equations is discussed. It is shown that the developed equations are directly applicable with controlled systems where the controlling forces and moments may be subject to constraints. Finally, a procedure is presented for determining which control force systems are equivalent. Examples are presented to demonstrate the advantages, features, and range of application of the equations.