KANE’S EQUATIONS FOR PERCUSSION MOTION OF VARIABLE MASS NONHOLONOMIC MECHANICAL SYSTEMS

In this paper,the Kane’s equations for the Routh’s form of variable massnonholonomic systems are established.and the Kane’s equations for percussion motionof variable mass holonomic and nonholonomic systems are deduced from them. Secondly,the equivalence to Lagrange’s equations for percussion motion and Kane’sequations is obtained,and the application of the new equation is illustrated by anexample.     

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。     

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.      

On the Nonlinear Continuum Theory of Dislocations: A Gauge Field Theoretical Approach

A nonlinear continuum theory of material bodies with continuously distributed dislocations is presented, based on a gauge theoretical approach. Firstly, we derive the canonical conservation laws that correspond to the group of translations and rotations in the material space using Noether’s theorem. These equations give us the canonical Eshelby stress tensor as well as the total canonical angular momentum tensor. The canonical Eshelby stress tensor is neither symmetric nor gauge-invariant. Based on the Belinfante-Rosenfeld procedure, we obtain the gauge-invariant Eshelby stress tensor which can be symmetric relative to the reference configuration only for isotropic materials. The gauge-invariant angular momentum tensor is obtained as well. The decomposition of the gauge-invariant Eshelby stress tensor in an elastic and in a dislocation part gives rise to the derivation of the famous Peach-Koehler force.     

Dynamical equations of constrained robotic devices

Summary Different forms of the dynamical equations for constrained chain systems are investigated. First Kane's equations with Lagrange's multipliers are deduced from the standard form of d'Alembert's principle. Next it is proved that, even for constrained robotic devices, Euler's equations are equivalent to Kane's equations provided only that relative coordinates are employed. This equivalence yields an outstanding mechanical interpretation of Kane's equations. The possibility of applying the procedure to closed-loop multibody systems is also examined.

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Sommario Vengono esaminate diverse formulazioni delle equazioni del moto per catene di corpi rigidi soggette a vincoli. Vengono dedotte le equazioni di Kane con moltiplicatori di Lagrange partendo dalla formulazione usuale del principio di d'Alembert. Viene poi provato che anche per i manipolatori vincolati le equazioni di Eulero sono equivalenti a quelle di Kane, purché vengano usate coordinate relative. Tale equivalenza fornisce una significativa interpretazione meccanica delle equazioni di Kane. Infine viene discussa la possibilità di applicare la procedura a sistemi a molti corpi con catene cinematiche chiuse.

     

Quadratically Nonlinear Cylindrical Hyperelastic Waves: Derivation of Wave Equations for Axisymmetric and Other States

A rigorous approach of nonlinear continuum mechanics is used to derive nonlinear wave equations that describe the propagation and interaction of hyperelastic cylindrical waves. Nonlinearity is introduced by means of metric coefficients, the Cauchy—Green strain tensor, and the Murnaghan potential and corresponds to the quadratic nonlinearity of all basic relationships. Quadratically nonlinear wave equations are derived for three states (configurations): (i) axisymmetric configuration dependent on the radial and axial coordinates and independent of the angular coordinate, (ii) configuration dependent on the angular coordinate, and (iii) axisymmetric configuration dependent on the radial coordinate. Four ways of introducing physical and geometrical nonlinearities to the wave equations are analyzed. Six different systems of wave equations are written __________ Translated from Prikladnaya Mekhanika, Vol. 41, No. 6, pp. 72–84, June 2005.     

空间悬臂梁的动力学分析与迭代求解

本文从柔性体的真-伪混合坐标形式的拉格朗日方程出发,导出了空间双柔性连杆机械臂系统的真-伪混合坐标形式的动力学方程.由于采用伪坐标和矩阵运算,避免了繁冗的对方位参数的求导过程,使方程结构紧凑,便于建立递推形式,并且在选择不同参数描述整体刚性运动情况下,方程形式保持不变,因而具有一般性.     

A THEORY OF CLASSICAL SPACETIME (I)—FOUNDATIONS

Despite its beauty and grandeur the theory of GR still appears to be incomplete in thefollowing ways:(1)It cannot accommodate the asymmetric total energy momentum tensor whoseasymmetry has been shown to exist in the presence of electromagnetism.(2)The law of angular momentum balance as an exact equation is not an automaticconsequence of the field equations as is the case with the law of linear momentum balance.(3)The four degrees of arbitrariness left by the contracted second Bianchi identitymakes a unique solution of the field equations unattainable without extra (unphysical)postulates.To answer the challenge posed by the above assertions we propose in this paper tocomplete Einstein’s theory by postulating the principle fibre bundle P[M,SU(2)]for theunderlying geometry of the 4-dimensional spacetime,where the structre group SU (2) isthe real representation of the special complex unitary group of dimension 2. SU (2) leavesconcurrently invariant the metric form dS~2=g_(αβ)dx~αdx~β and the fundamenta     

Modeling cylindrical waves in nonlinear elastic composites

A procedure of deriving nonlinear wave equations that describe the propagation and interaction of hyperelastic cylindrical waves in composite materials modeled by a mixture with two elastic constituents is outlined. Nonlinearity is introduced by metric coefficients, Cauchy-Green strain tensor, and Murnaghan potential. It is the quadratic nonlinearity of all governing relations. For a configuration (state) dependent on the radial coordinate and independent of the angular and axial coordinates, quadratically nonlinear wave equations for stresses are derived and a relationship between the components of the stress tensor and partial strain gradient is established. Four combinations of physical and geometrical nonlinearities in systems of wave equations are examined. Nonlinear wave equations are explicitly written for three of the combinations __________ Translated from Prikladnaya Mekhanika, Vol. 43, No. 6, pp. 63–72, June 2007.     

Description of local dilatancy and local rotation of granular assemblies by microstretch modeling

This study investigates the microstretch continuum modeling of granular assemblies while accounting for both the dilatant and rotational degrees of freedom of a macroelement. By introducing the solid volume fraction and the gyration radius of a granular system, the balance equations of the microstretch continuum are transformed into a new formulation of evolution equations comprising six variables: the solid volume fraction, the gyration radius, the velocity field, the averaged angular velocity, the rate of gyration radius, and the internal energy. The bulk microinertia density, the averaged angular velocity, and the microgyration tensor at a macroscopic point are obtained in terms of discrete physical quantities. The bulk part and the rotational part of the microgyration tensor are proposed as the two indices to measure the local dilatancy and local rotation of granular assemblies. It is demonstrated in the numerical simulation that the two indices can be used to identify the shear band evolution in a granular system under a biaxial compression.     

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.     

DYNAMIC ANALYSIS OF FLEXIBLE-LINK AND FLEXIBLE-JOINT ROBOTS

The dynamic modeling and simulation of an N-flexible-link and N-flexible joint robot is reported. Each flexible joint is modeled as a linearly elastic torsional spring and the approach of assumed modes is adopted to describe the deformation of the flexible-link. The complete governing equations of motion of the flexible-link-joint robots are derived via Kane's method. An illustrative example is given to validate the algorithm presented and to show the effects of flexibility on the dynamics of robots.     

Relation between the stress and couple-stress tensors in the microcontinuum theory of elasticity

The stress tensor is expressed in terms of an arbitrary symmetric tensor field of second rank and the couple-stress tensor. The stress and couple-stress tensors are represented by arbitrary tensor fields satisfying the homogeneous equilibrium equations. These tensors are also given in the form of the expressions satisfying the inhomogeneous equilibrium equations used in the microcontinuum theory of elasticity. The stress tensor functions are considered.     

利用Kane方法进行航天员舱外活动仿真

阐述了计算机动态仿真航天员舱外活动(Extra Vehicular Activity，EVA)的必要性，分析了国外航天员运动仿真的现状，给出了应用计算多刚体系统动力学对航天员舱外活动进行仿真的详细步骤。建立了具体的仿真方法，考虑了反向运动学、反向动力学等，反向动力学采用Kane方法。选取典型的EVA，在对其进行适当简化的基础上，得出了描述该EVA系统运动的7节段6自由度动力学方程，对该EVA进行了仿真计算，并对结果进行了分析。     

Determining the axisymmetric elastoplastic state of thin shells with allowance for the third invariant of the stress deviator

A technique to determine the axisymmetric elastoplastic state of thin shells with allowance for the third invariant of the stress deviator is developed. The technique is based on the theory of thin shells that takes into account transverse shear and torsional strains. Plastic equations that relate the components of the stress tensor in Eulerian coordinates with the linear components of the finite-strain tensor are used as constitutive equations. The nonlinear scalar functions in the constitutive equations are found from base tests on tubular specimens under proportional loading for different stress modes. The boundary-value problem is solved by numerically integrating a system of ordinary differential equations     

Parametric excitation of beams moving over supports

Studied in this work are the formulation of equations of motion and the response to parametric excitation of a uniform cantilever beam moving longitudinally over a single bilateral support. The equations of motion are generated by using assumed modes to discretize the beam, by regarding the support as a kinematic constraint, and by employing an alternate form of Kane's method that is particularly well suited to systems subject to constraints. Instability information is developed using the results of perturbation analysis for harmonic longitudinal motions of small amplitude and with Floquet theory for general periodic motions of any amplitude. Results demonstrate that definitive instability information can be obtained for a beam moving longitudinally over supports based on the frequencies of free transverse vibration of a beam that is longitudinally fixed.     

Equivalence of Kane's and Maggi's equations

Summary The equivalence between Kane's method for formulating the equations of motion of non-holonomic systems and the method presented in 1896 by the Italian author Gian Antonio Maggi, is outlined in this paper.

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Sommario Viene puntualizzata l'equivalenza del metodo di Kane per la scrittura delle equazioni del moto di sistemi anolonomi, con il metodo ideato nel 1896 dall'italiano Gian Antonio Maggi.

     

n the fourth order tensor valued function of the stress in return map algorithm

针对各向同性材料,基于一组相互正交的基张量,建立了一套有 效的相关运算方法. 基张量中的两个分别是归一化的二阶单位张量和偏应力张量,另一个则 使用应力的各向同性二阶张量值函数经过归一化构造所得,三者共主轴. 根据张量函数表示 定理,本构方程和返回映射算法中所涉及到的应力的二阶、四阶张量值函数及其逆都由这组 基所表示. 推演结果表明：这些张量之间的运算,表现为对应系数矩阵之间的简单 关系. 其中,四阶张量求逆归结为对应的3\times3系数矩阵求逆,它对二阶张量的变换 则表现为该矩阵对3times 1列阵的变换. 最后,对这些变换关系应用于返回映 射算法的迭代格式进行了相关讨论.