Modelling of three-dimensional mechanical systems using point coordinates with a recursive approach

In this paper, the dynamic simulation of constrained mechanical systems that are interconnected of rigid bodies is studied using projection recursive algorithm. The method uses the concepts of linear and angular momentums to generate the rigid body equations of motion in terms of the Cartesian coordinates of a dynamically equivalent constrained system of particles, without introducing any rotational coordinates and the corresponding rotational transformation matrix. Closed-chain system is transformed to open-chain by cutting suitable kinematical joints and introducing cut-joint constraints. For the resulting open-chain system, the equations of motion are generated recursively along the serial chains. An example is chosen to demonstrate the generality and simplicity of the developed formulation.     

Modelling of closed-chain manipulators on an excavator vehicle

The main focus of this paper is to develop a physics-based model for a closed-chain manipulator in an excavator vehicle. The derivation of closed-chain manipulator dynamic equations with a structure similar to open-chain manipulator equations is an important research problem, particularly with reference to controller design. In this paper, an approach for deriving closed-chain manipulator equations with an open-chain structure, based on trigonometric t-formulae, is presented. Holonomic loop closure constraints are employed in order to derive the closed-chain mechanism dynamics from the reduced system dynamics. The closed-chain equations, with a structure similar to serial link equations, are presented. The model incorporates the dynamic properties of the manipulator and bucket. The dynamic model for the excavation system is validated against measured data obtained from a full-scale closed-chain excavator vehicle. A dynamic model is important for the design of control strategies for trajectory tracking, a key requirement for automating the excavation task. It is noted that even though the results presented in this paper are focused on a particular excavator vehicle, the research is generic and can be adapted to any closed-chain manipulator.     

Relationship between the Udwadia–Kalaba equations and the generalized Lagrange and Maggi equations

In their paper “A New Perspective on Constrained Motion,” F. E. Udwadia and R. E. Kalaba propose a new form of matrix equations of motion for nonholonomic systems subject to linear nonholonomic second-order constraints. These equations contain all of the generalized coordinates of the mechanical system in question and, at the same time, they do not involve the forces of constraint. The equations under study have been shown to follow naturally from the generalized Lagrange and Maggi equations; they can be also obtained using the contravariant form of the motion equations of a mechanical system subjected to nonholonomic linear constraints of second order. It has been noted that a similar method of eliminating the forces of constraint from differential equations is usually useful for practical purposes in the study of motion of mechanical systems subjected to holonomic or classical nonholonomic constraints of first order. As a result, one obtains motion equations that involve only generalized coordinates of a mechanical system, which corresponds to the equations in the Udwadia–Kalaba form.     

On implicit systems of differential equations

This article considers implicit systems of differential equations. The implicit systems that are considered are given by polynomial relations on the coordinates of the indeterminate function and the coordinates of the time derivative of the indeterminate function. For such implicit systems of differential equations, we are concerned with computing algebraic constraints such that on the algebraic variety determined by the constraint equations the original implicit system of differential equations has an explicit representation. Our approach is algebraic. Although there have been a number of articles that approach implicit differential equations algebraically, all such approaches have relied heavily on linear algebra. The approach of this article is different, we have no linearity requirements at all, instead we rely on algebraic geometry. In particular, we use birational mappings to produce an explicit system. The methods developed in this article are easily implemented using various computer algebra systems.     

特殊坐标系中特殊非牛顿流边界层方程的相似解

给出了在一个特殊坐标系中三阶流体的二维定常运动方程组．该坐标系中由无粘流体的势流确定，即以环绕任意物体的非粘性流动的流线为Ф-坐标，速度势线为ψ-坐标，构成正交曲线坐标系．结果表明，边界层方程与浸没在流体中的物体的形状无关．第一次近似假定第二梯度项与粘性项和第三梯度项相比，可以忽略不计．第二梯度项的存在，将防碍第三梯度流相似解的比例变换的导出．利用李群方法计算了边界层方程的无穷小生成元．将边界层方程组变换为常微分方程组．利用Runge-Kutta法结合打靶技术求解了该非线性微分方程组的数值解．     

A Theory of Quantized Fields Based on Orthogonal and Symplectic Clifford Algebras

The transition from a classical to quantum theory is investigated within the context of orthogonal and symplectic Clifford algebras, first for particles, and then for fields. It is shown that the generators of Clifford algebras have the role of quantum mechanical operators that satisfy the Heisenberg equations of motion. For quadratic Hamiltonians, the latter equations are obtained from the classical equations of motion, rewritten in terms of the phase space coordinates and the corresponding basis vectors. Then, assuming that such equations hold for arbitrary path, i.e., that coordinates and momenta are undetermined, we arrive at the equations that contains basis vectors and their time derivatives only. According to this approach, quantization of a classical theory, formulated in phase space, is replacement of the phase space variables with the corresponding basis vectors (operators). The basis vectors, transformed into the Witt basis, satisfy the bosonic or fermionic (anti)commutation relations, and can create spinor states of all minimal left ideals of the corresponding Clifford algebra. We consider some specific actions for point particles and fields, formulated in terms of commuting and/or anticommuting phase space variables, together with the corresponding symplectic or orthogonal basis vectors. Finally we discuss why such approach could be useful for grand unification and quantum gravity.     

Systematic Modelling Using Lagrangian DAEs

A treatment for formulating equations of motion for discrete engineering systems using a differential-algebraic form of Lagrange's equation is presented. The distinguishing characteristics of this approach are the retention of constraints in the mathematical model and the consequent use of dependent coordinates. A derivation of Lagrange's equation based on the first law of thermodynamics is featured. Nontraditional constraint classifications for Lagrangian differential-algebraic equations (DAEs) are defined. Model formulation is systematic and lays a foundation for developing DAE-based tools and algorithms for applications in dynamic systems and control.     

Systematic dynamic modelling of mechanical systems containing kinematic loops

In this tutorial paper a systematic procedure is presented to obtain the dynamic models of mechanical systems containing kinematic loops, with a main emphasis on efficiency and with particular regard to robotic systems. The procedure retains a minimal set of generalized coordinates for the corresponding open loop structure, obtained by removing some additional constraints closing loops in the original structure, while adopting an efficient Newton-Euler formulation of the equations of motion. Two methods for including the loop closure equations are then discussed: the Lagrange multipliers method and the method based on an explicit solution of the constraint equations. In the first case the dynamic model is given in the form of an implicit Differential Algebraic Equations (DAE) system, while in the second case an Ordinary Differential Equations (ODE) system could be obtained.     

Computer system for kinematic and dynamic analysis synthesis of rigid and flexible multibody systems

In the paper an overview of a general numerical algorithm and program system library for deriving the kinematic constraint equations and dynamic equations of motion, as well as, computation of their first and second order partial derivatives with respect to kinematic parameters of motion, design parameters and mass and inertia characteristics for rigid and flexible multibody systems is presented. These are the main basic computational modules for implementation of kinematic and dynamic synthesis, optimization and design. The main theoretical basis consists in matrix methods for deriving the kinematic constraints and dynamic equations, as well as, the generalized Newton – Euler dynamic equations for rigid and flexible bodies, and finite element discretization in relative coordinates. Block–scheme of the computational procedures and problem oriented program compilation is presented. An example of kinematic synthesis of six–link path generating mechanism with singular points is presented. (© 2008 WILEY-VCH Verlag GmbH & Co. KGaA, Weinheim)     

Parametric optimization of a four-link close-chain manipulator with active and passive actuators

We investigate the problem of optimization of motion laws and design parameters of a four-link manipulator with a closed-chain kinematic structure. The manipulator performs cyclic transfer operations in a horizontal plane under the action of active and passive (springs and dampers) actuators. As a minimization criterion, we take a quadratic (with respect to control moments of forces) functional. An algorithm is proposed for constructing a suboptimal solution of the formulated problem based on parametrization of the generalized coordinates of the manipulator with a family of given functions and on the use of numerical procedures of mathematical programming.     

Propagation of harmonic waves in prestressed fiber viscoelastic thick tubes filled with a viscous dusty fluid

In this work, propagation of harmonic waves in initially stressed cylindrical viscoelastic thick tubes filled with a Newtonian fluid is studied. The tube, subjected to a static inner pressure P_i and a positive axial stretch λ, will be considered as an incompressible viscoelastic and fibrous material. The fluid is assumed as an incompressible, viscous and dusty fluid. The field equations for the fluid are obtained in the cylindrical coordinates. The governing differential equations of the tube’s viscoelastic material are obtained also in the cylindrical coordinates utilizing the theory of small deformations superimposed on large initial static deformations. For the axially symmetric motion the field equations are solved by assuming harmonic wave solutions. A closed form solution can be obtained for equations governing the fluid body, but due to the variability of the coefficients of resulting differential equations of the solid body, such a closed form solution is not possible to obtain. For that reason, equations for the solid body and the boundary conditions are treated numerically by the finite-difference method to obtain the effects of the thickness of the tube on the wave characteristics. Dispersion relation is obtained using the long wave approximation and, the wave velocities and the transmission coefficients are computed.     

Non-stationary nonlinear analysis of a composite rotating shaft passing through critical speed

In this paper, nonlinear non-stationary dynamics of a nonlinear composite shaft passing through critical speed is studied. The nonlinearity is due to the large amplitude of shaft vibration. The equations of motion are obtained by three-dimensional constitutive relationships of composite materials. The gyroscopic effect, rotary inertia and coupling caused by material anisotropy are considered but shear deformation is neglected. Without any simplification, axial-flexural-flexural-torsional equations of motion (EOM) for the elastic composite shaft with variable rotational speed are obtained. The approximate analytical method namely asymptotic method is applied to analyze the nonstationary behavior of the composite shaft with constant acceleration. First, the EOMs are discretized using one and two-term Galerkin method. Then, the resulted equations are transformed to normal coordinates. Finally, the asymptotic method is applied to equations described in normal coordinates. Analytical expressions governing the amplitude and phase of motion during passage through critical speeds are obtained. By comparing the results obtained from analytical solutions, it is shown that discretization by one mode is not enough due to the existence of coupling in the equations and at least two modes are necessary for this purpose. Effects of damping, eccentricity, initial angular velocity and fiber angle on response amplitude are investigated. For verification, the results of perturbation theory are compared with numerical simulations and it is shown that there is good agreement between both methods.     

Properties of Solutions for the Problem of a Joint Slow Motion of a Liquid and a Binary Mixture in a Two-Dimensional Channel

Under study is a conjugate boundary value problemdescribing a joint motion of a binary mixture and a viscous heat-conducting liquid in a two-dimensional channel, where the horizontal component of the velocity vector depends linearly on one of the coordinates. The problemis nonlinear and inverse because the systems of equations contain the unknown time functions—the pressure gradients in the layers. In the case of small Marangoni numbers (the so-called creeping flow) the problem becomes linear. For its solutions the two different integral identities are valid which allow us to obtain a priori estimates of the solution in the uniform metric. It is proved that if the temperature on the channel walls stabilizes with time then, as time increases, the solution of the nonstationary problem tends to a stationary solution by an exponential law.     

受冲击性约束作用的系统的运动方程

当具有n个自由度的系统加有P个冲击性的约束时,要求解系统的运动,一般都需要解含n+P个方程的方程组.本文提出以待定乘子法为基础,分别就取广义坐标和伪坐标的二种情况,从n个碰撞方程中消去未知的待定乘子,将碰撞方程简化为n-P个,它和P个冲击性约束方程一起组成了含n个方程的方程组,就能求解具有冲击性约束的碰撞问题,这比一般方法更为简便.     

The tangent stiffness matrix in rigid multibody vehicle dynamics

In the development of the equations of motion of a rigid multibody system, particularly vehicles, it is quite common to linearize the equations after they are derived, or even to ignore the non-linear terms from the outset. When doing so, the tangent stiffness matrix, i.e., the stiffness term that results from preload of the system rather than physical flexibility, is often ignored. The motion analysis of preloaded mechanical systems, e.g., the ride quality analysis of vehicle suspensions, may be significantly altered by this omission. Explicit expressions for the tangent stiffness matrix for a few of the common constraint types, including the revolute joint and the rolling wheel, are derived in this article. These expressions are coded into software and included in an open-source linear equation of motion generator for rigid multibody systems. A sample automotive suspension system is analysed, comparing the results with and without the tangent stiffness matrix effects; additionally, a benchmark solution is developed using a commercial multibody dynamics code. The results provide confirmation of the significance of the tangent stiffness effect on motion analysis and correlate well with non-linear transient solutions.