Hoberman's Sphere, Euler Parameters and Lagrange's Equations

In this classroom note, we explore how the Euler parameters can be used to represent a particular homogeneous deformation of a continuum. One possible application is Hoberman's sphere. With the assistance of the theory of a pseudo-rigid body, we show how the motion of the continuum can be determined. We also present a new derivation of Lagrange's equations for the rotational dynamics of a rigid body where the rotation tensor is parameterized using Euler parameters. This revised version was published online in August 2006 with corrections to the Cover Date.     

有限转动张量的保角参量及在多柔体系统中的应用

采用保角转动参数描述了多体系统中的大转动张量．该方法消除了传统的欧拉参数描述所必需的约束方程，并且适于大变形部件的建模需要．利用以上结果建立了含大变形梁状部件的多体系统的力学模型．     

Finite element formulation of slender structures with shear deformation based on the Cosserat theory

This paper addresses the derivation of finite element modelling for nonlinear dynamics of Cosserat rods with general deformation of flexure, extension, torsion, and shear. A deformed configuration of the Cosserat rod is described by the displacement vector of the deformed centroid curve and an orthogonal moving frame, rigidly attached to the cross-section of the rod. The position of the moving frame relative to the inertial frame is specified by the rotation matrix, parameterised by a rotational vector. The shape functions with up to third order nonlinear terms of generic nodal displacements are obtained by solving the nonlinear partial differential equations of motion in a quasi-static sense. Based on the Lagrangian constructed by the Cosserat kinetic energy and strain energy expressions, the principle of virtual work is employed to derive the ordinary differential equations of motion with third order nonlinear generic nodal displacements. A cantilever is presented as a simple example to illustrate the use of the formulation developed here to obtain the lower order nonlinear ordinary differential equations of motion of a given structure. The corresponding nonlinear dynamical responses of the structures are presented through numerical simulations using the MATLAB software. In addition, a MicroElectroMechanical System (MEMS) device is presented. The developed equations of motion have furthermore been implemented in a VHDL-AMS beam model. Together with available models of the other components, a netlist of the device is formed and simulated within an electrical circuit simulator. Simulation results are verified against Finite Element Analysis (FEA) results for this device.     

Optimal control theory and Newton–Euler formalism for Cosserat beam theory

A Newton–Euler formalism is derived for Cosserat beam theory in a purely deductive manner, thanks to an analogy with optimal control theory. The method relies upon joint use of Gauss least constraint principle, Appell's equations and optimal control theory, that was used successfully in a previous work for the classical case of discrete Newton–Euler backward and forward recursions of multibody systems. To cite this article: G. Le Vey, C. R. Mecanique 334 (2006).     

On application of Newton’s law to mechanical systems with motion constraints

This work is devoted to deriving and investigating conditions for the correct application of Newton’s law to mechanical systems subjected to motion constraints. It utilizes some fundamental concepts of differential geometry and treats both holonomic and nonholonomic constraints. This approach is convenient since it permits one to view the motion of any dynamical system as a path of a point on a manifold. In particular, the main focus is on the establishment of appropriate conditions, so that the form of Newton’s law of motion remains invariant when imposing an additional set of motion constraints on a mechanical system. Based on this requirement, two conditions are derived, specifying the metric and the form of the connection on the new manifold, which results after enforcing the additional constraints. The latter is weaker than a similar condition obtained by imposing a metric compatibility condition holding on Riemannian manifolds and employed frequently in the literature. This is shown to have several practical implications. First, it provides a valuable freedom for selecting the connection on the manifold describing large rigid body rotation, so that the group properties of this manifold are preserved. Moreover, it is used to state clearly the conditions for expressing Newton’s law on the tangent space and not on the dual space of a manifold, which is the natural geometrical space for this. Finally, the Euler–Lagrange operator is examined and issues related to equations of motion for anholonomic and vakonomic systems are investigated and clarified further.     

CONSTRAINT VIOLATION STABILIZATION OF EULER-LAGRANGE EQUATIONS WITH NON-HOLONOMIC CONSTRAINTS

Two constraint violation stabilization methods are presented to solve the Euler Lagrange equations of motion of a multibody system with nonholonomic constraints. Compared to the previous works, the newly devised methods can deal with more complicated problems such as those with nonholonomic constraints or redundant constraints, and save the computation time. Finally a numerical simulation of a multibody system is conducted by using the methods given in this paper.     

Transient analysis of Cosserat rod with inextensibility and unshearability constraints using the least-squares finite element model

In this study, time-dependent fully discretized least-squares finite element model is developed for the transient response of Cosserat rod having inextensibility and unshearability constraints to simulate a surgical thread in space. Starting from the kinematics of the rod for large deformation, the linear and angular momentum equations along with constraint conditions for the sake of completeness are derived. Then, the α-family of time derivarive approximation is used to reduce the governing equations of motion to obtain a semi-discretized system of equations, which are then fully discretized using the least-squares approach to obtain the non-linear finite element equations. Newton׳s method is utilized to solve the non-linear finite element equations. Dynamic response due to impulse force and time-dependent follower force at the free end of the rod is presented as numerical examples.     

Quasi-Euler-Poinsot motion of a rigid body

The phase-plane method of nonlinear oscillation is used to discuss the influence of the small dissipation upon the Euler-Poinsot motion of a rigid body about a fixed point. The equations of phase coordinates are applied instead of Eulerian equations, and the global characteristics of the motion of rigid body are analysed according to the distribution and the type of the singular points. A Chaplygin's sphere on a rough plane, a rigid body in viscous medium and one with a cavity filled with viscous fluid are discussed as examples. It is shown that the motions of rigid bodies dissipated by various physical factors have a common qualitative character. The rigid body tends to make a permanent rotation about the principal axis of the largest moment of inertia. The transitive process can change from oscillatory to aperiodic with the decrease in dissipation.     

Variational principle for a special Cosserat rod

In this paper, we describe the nonlinear models of a rod in three-dimensional space based on the Cosserat theory. Using the pseudo-rigid body method and variational principle, we obtain the motion equations of a Cosserat rod including shear deformations.     

Variational principles and generalized variational principles for nonlinear elasticity with finite displacement

In a previous paper (1979)^[1], the minimum potential energy principle and stationary complementary energy principle for nonlinear elasticity with finite displacement, together with various complete and incomplete generalized principles were studied. However, the statements and proofs of these principles were not so clearly stated about their constraint conditions and their Euler equations. In somecases, the Euler equations have been mistaken as constraint conditions. For example, the stress displacement relation should be considered as Euler equation in complementary energy principle but have been mistaken as constraint conditions in variation. That is to say, in the above mentioned paper, the number of constraint conditions exceeds the necessary requirement. Furthermore, in all these variational principles, the stress-strain relation never participate in the variation process as constraints, i.e., they may act as a constraint in the sense that, after the set of Euler equations is solved, the stress-strain relation may be used to derive the stresses from known strains, or to derive the strains from known stresses. This point was not clearly mentioned in the previous paper (1979)^[1]. In this paper, the high order Lagrange multiplier method (1983)^[2] is used to construct the corresponding generalized variational principle in more general form. Throughout this paper, V/.V. Novozhilov's results (1958)^[3] for nonlinear elasticity are used.     

A passive-biped model with multiple routes to chaos

This paper presents a new passive-biped model consisting of a simplest walking model beneath an upper body, with no kinematic constraint. The upper body is attached to the legs with a linear torsional spring. The model is a passive dynamic walker, so it walks down a slope without energy input. The governing equations of motion are derived and simulated for the parameter analysis purposes. Simulation results reveal some different routes to chaos that have not been observed in previous models.     

Modeling of properties and motions of an inhomogeneous one-dimensional continuum of a complicated Cosserat-type microstructure

We consider an approach to modeling the properties of the one-dimensional Cosserat continuum [1] by using the mechanical modeling method proposed by Il’yushin in [2] and applied in [3]. In this method, elements (blocks, cells) of special form are used to develop a discrete model of the structure so that the average properties of the model reproduced the properties of the continuum under study. The rigged rod model, which is an elastic structure in the form of a thin rod with massive inclusions (pulleys) fixed by elastic hinges on its elastic line and connected by elastic belt transmissions, is taken to be the original discrete model of the Cosserat continuum. The complete system of equations describing the mechanical properties and the dynamical equilibrium of the rigged rod in arbitrary plane motions is derived. These equations are averaged in the case of a sufficiently smooth variation in the parameters of motion along the rod (the long-wave approximation). It was found that the average equations exactly coincide with the equations for the one-dimensional Cosserat medium [1] and, in some specific cases, with the classical equations of motion of an elastic rod [4–6]. We study the plane motions of the one-dimensional continuum model thus constructed. The equations characterizing the continuum properties and motions are linearized by using several assumptions that the kinematic parameters are small. We solve the problem of natural vibrations with homogeneous boundary conditions and establish that each value of the parameter distinguishing the natural vibration modes is associated with exactly two distinct vibration mode shapes (in the same mode), each of which has its own frequency value.     

A Variational Approach to Dynamics of Flexible Multibody Systems

Abstract

This paper presents a variational formulation of constrained dynamics of flexible multibody systems, using a vector-variational calculus approach. Body reference frames are used to define global position and orientation of individual bodies in the system, located and oriented by position of its origin and Euler parameters, respectively. Small strain linear elastic deformation of individual components, relative to their body reference frames, is defined by linear combinations of deformation modes that are induced by constraint reaction forces and normal modes of vibration. A library of kinematic couplings between flexible and/or rigid bodies is defined and analyzed. Variational equations of motion for multibody systems are obtained and reduced to mixed differential-algebraic equations of motion. A space structure that must deform during deployment is analyzed, to illustrate use of the methods developed     

Cosserat modeling of cellular solidsModélisation des solides cellulaires selon Cosserat

Cellular solids inherit their macroscopic mechanical properties directly from the cellular microstructure. However, the characteristic material length scale is often not small compared to macroscopic dimensions, which limits the applicability of classical continuum-type constitutive models. Cosserat theory, however, offers a continuum framework that naturally features a length scale related to rotation gradients. In this paper a homogenization procedure is proposed that enables the derivation of macroscopic Cosserat constitutive equations based on the underlying microstructural morphology and material behavior. To cite this article: P.R. Onck, C. R. Mecanique 330 (2002) 717–722.     

Identification of the Ten Inertia Parameters of a Rigid Body

Standard experiments for identifying inertia parameters of a rigid body only provide a subset of the inertia parameters of the body [1–10]. In addition, they do not use in the estimation process the complete information included in the equations of motion of the rigid test body. The objective of the work described in this paper is the simultaneous, automatic experimental identification of the ten inertia parameters of a rigid body using the complete information hidden in the nonlinear model equations of the test body. This task has been solved in several steps:– mathematical modelling of the special motions of a rigid body in space. These model equations have been mapped into a form suitable for identification purposes (identification hypothesis)– design of a special measurement robot for performing the identification experiments– laboratory experiments providing test data used for the identification experiments– identification of the inertia parameters and accuracy tests.The accuracy of the identified parameters is satisfactory.     

Geometry and differentiability requirements in multibody railroad vehicle dynamic formulations

The dynamic equations of multibody railroad vehicle systems can be formulated using different sets of generalized coordinates; examples of these sets of coordinates are the absolute Cartesian and trajectory coordinates. The absolute coordinate based formulations do not require introducing an intermediate track coordinate system since all the absolute coordinates are defined in the global system. On the other hand, when the trajectory coordinates are used, a track coordinate system that follows the motion of a body in the railroad vehicle system is introduced. This track coordinate system is defined by the track geometry and the distance traveled by the body along the track centerline. The configuration of the body with respect to the track coordinate system is defined using five coordinates; two translations and three Euler angles. In this paper, the formulations based on the absolute and trajectory coordinates are compared. It is shown that these two sets of coordinates require different degrees of differentiability and smoothness. When an elastic contact formulation is used to study the wheel/rail dynamic interaction, there are significant differences in the order of the derivatives required in both formulations. In fact, as demonstrated in this study, in the absence of a contact constraint formulation, higher order derivatives with respect to geometric parameters are still required when the equations are formulated using the trajectory coordinates. The formulation of the constraints used in the analysis of the wheel/rail contact is discussed and it is shown that when the absolute coordinates are used, only third order derivatives need to be evaluated. The relationship between the track frame used in railroad vehicle dynamics and the Frenet frame used in the theory of curves to describe the curve geometry is also discussed in this paper. Based on the analysis presented in this paper, the advantages and drawbacks of a hybrid method which employs both the absolute and trajectory coordinates and planar contact conditions in order to reduce the number of contact constraints and relax the differentiability requirements are discussed. In this method, the absolute coordinates are used to formulate the equations of motion of the railroad vehicle system. The absolute coordinate solution can be used to determine the trajectory coordinates and their time derivatives. Using the trajectory coordinates, the motion of the body in the vehicle with respect to the track coordinate system can be predicted and used in the formulation of the planar contact model.     

A further work on directed rods

In this paper, we discuss the field equations of a rod with three deformable directors. We then deal with the rod subjected to internal constraints. Finally, we compare the theory of the constrained directed rod with that of an unconstrained rod with two deformable directors and with that of Cosserat rods.     

关于弹性梁的数学模型

叙述和比较一维弹性体的两种不同建模方法, 即弹性梁的传统建模方法和基于 Kirchhoff-Cosserat模型的建模方法. 应用精确Cosserat模型分析梁的三维运动. 考虑中 心线的拉伸压缩变形、截面的剪切变形、截面转动的惯性和端部载荷影响等因素, 建立精确 的弹性梁动力学方程. 讨论梁的静态和动态平衡稳定性. Kirchhoff杆、铁摩辛柯 梁和欧拉--伯努利梁等为Cosserat模型在各种简化条件下的特例.