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.     

New control laws for stabilization of a rigid body motion using rotors system

This paper presents a new class of globally asymptotic stabilizing control laws for dynamics and kinematics attitude motion of a rotating rigid body. The rigid body motion is controlled with the help of a rotor system with internal friction. The Lyapunov technique is used to prove the global asymptotic properties of the stabilizing control laws. The obtained control laws are given as functions of the angular velocity, Cayley–Rodrigues and Modified-Rodrigues parameters. It is shown that linearity and nonlinearity of the control laws depend not only upon the Lyapunov function structure but also the rotors friction. Moreover, some of the results are compared with these obtained in the literature by other methods. Numerical simulation is introduced.     

The supersonic motion of a rigid body in an elastic medium with friction

The plane problem of supersonic steady motion of a body in an elastic medium is solved. Two possible cases of body motion are considered depending on its velocity. In the first case, the body moves at a velocity greater than the velocity of transverse waves but smaller than the velocity of longitudinal waves. In the second case, the body moves at a velocity greater than the velocity of longitudinal waves. An analytic solution of the problem under study is obtained and analyzed. It is shown that friction substantially influences the penetration process.     

The bouncing motion appearing in a robotic system with unilateral constraint

The hopping or bouncing motion can be observed when robotic manipulators are sliding on a rough surface. Making clear the reason of generating such phenomenon is important for the control and dynamical analysis for mechanical systems. In particular, such phenomenon may be related to the problem of Painlevé paradox. By using LCP theory, a general criterion for identifying the bouncing motion appearing in a planar multibody system subject to single unilateral constraint is established, and found its application to a two-link robotic manipulator that comes in contact with a rough constantly moving belt. The admissible set in state space that can assure the manipulator keeping contact with the rough surface is investigated, and found which is influenced by the value of the friction coefficient and the configuration of the system. Painlevé paradox can cause either multiple solutions or non-existence of solutions in calculating contact force. Developing some methods to fill in the flaw is also important for perfecting the theory of rigid-body dynamics. The properties of the tangential impact relating to the inconsistent case of Painlevé paradox have been discovered in this paper, and a jump rule for determining the post-states after the tangential impact finishes is developed. Finally, the comprehensively numerical simulation for the two-link robotic manipulator is carried out, and its dynamical behaviors such as stick-slip, the bouncing motion due to the tangential impact at contact point or the external forces, are exhibited.     

Some model problems of dynamics for a rigid body interacting with a medium

The paper addresses the stability of solutions of ordinary differential equations of particular type for different statements and assumptions. The equations are interpreted as models of motion of a rigid body under the action of the ambient medium __________ Translated from Prikladnaya Mekhanika, Vol. 43, No. 10, pp. 49–67, October 2007.     

Stability of the motion of a rigid body in an unsteady flow

The problem of rigid-body motion in an unsteady gas flow is considered using a flow model [1] in which the motion of the body is described by a system of integrodifferential equations. The case in which among the characteristic exponents of the fundamental system of solutions of the linearized equations there are not only negative but also one zero exponent is analyzed. The instability conditions established with respect to the second-order terms on the right sides of the equations are noted. The problem may be regarded as a generalization of the problem of the lateral instability of an airplane in the critical case solved by Chetaev [2], pp. 407–408.Translated from Izvestiya Akademii Nauk SSSR, Mekhanika Zhidkosti i Gaza, No. 3, pp. 18–22, May–June, 1989.     

On the motion of a heavy dynamically symmetric rigid body with vibrating suspension point

The motion of a dynamically symmetric rigid body in a homogeneous field of gravity is studied. One point lying on the symmetry axis of the body (the suspension point) performs high-frequency periodic or conditionally periodic vibrations of small amplitude. In the framework of approximate equations of motion obtained earlier, we find necessary and sufficient conditions for the stability of the body rotation about the vertical symmetry axis and study the existence and stability of regular precessions of the body in the coordinate system translationally moving together with the suspension point.     

New integrable problems in the dynamics of rigid bodies with the kovalevskaya configuration. I - The case of axisymmetric forces

Despite the rarity of integrable problems in rigid body dynamics, amazing relative abundance of these problems is observed when the body has the famous Kovalevskaya configuration A=B=2C. In the present work, the general problem of motion of such a rigid body about a fixed point under the action of axially symmetric conservative forces is considered. The classical problem of motion of a heavy rigid body or a gyrostat and the problem of motion of a body in an ideal fluid are special cases.Three new integrable cases valid for Kovalevskaya's configuration are introduced of which one is general and the other two are restricted to the zero level of the cyclic integral. It is also shown that all the previously known results concerning the preesent problem are special versions of four different cases.     

Solution of some problems of particle motion in a gas stream

The problem of designing the contour of an optimum nozzle for particle acceleration is considered in the one-dimensional formulation. In [1] a similar problem was solved in the general formulation using a numerical method. Here, in contrast to [1], the solution is obtained in analytic form for the particular case of low particle concentration. The problem of the motion of a particle in a uniform stream is solved in the same form. Moscow. Translated from Izvestiya Akademii Nauk SSSR, Mekhanika Zhidkosti i Gaza, No. 5, pp. 86–90, September–October, 1988.     

Flow structure of a rotating liquid after motion of a body in it

Translated from Zhurnal Prikladnoi Mekhaniki i Tekhnicheskoi Fiziki, No. 6, pp. 113–117, November–December, 1988.     

Quasi-optimal deceleration of rotational motion of a dynamically symmetric rigid body in a resisting medium

We study the problem of quasi-optimal (with respect to the response time) deceleration of rotational motion of a free rigid body which experiences a small retarding torque generated by a linearly resisting medium. We assume that the undeformed body is dynamically symmetric and its mass is concentrated on the symmetry axis. A system of nonlinear differential equations describing the evolution of rotation of the rigid body is obtained and studied.