Connections and geodesic characteristic of equations of motion for constrained mechanical systems

I.IntroductionSinceEinsteinestablishedgeneralrelativityatthebiginningofthiscentury,differentialgeometry,especiallythemodernditTerentialgeometry,hasbeenextellsivelyappliedtomanyfieldsofphysics.Thestudyofregularholonomicmechanicalsystemsinthemodernsettingofdifferentialgeometryhasahistoryofmorethanthirtyyears.Andtheresearchtendstoperfectgraduallyt'~'l.Sinceearlyin1980'sthegeometrizationaboutconstrainedmechanicalsystemsandsingularmechanicalsystemshasbeenattachedimportanceextensivelyandsomeresult…     

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.     

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.     

Motion equations in redundant coordinates with application to inverse dynamics of constrained mechanical systems

The basis for any model-based control of dynamical systems is a numerically efficient formulation of the motion equations, preferably expressed in terms of a minimal set of independent coordinates. To this end the coordinates of a constrained system are commonly split into a set of dependent and independent ones. The drawback of such coordinate partitioning is that the splitting is not globally valid since an atlas of local charts is required to globally parameterize the configuration space. Therefore different formulations in redundant coordinates have been proposed. They usually involve the inverse of the mass matrix and are computationally rather complex. In this paper an efficient formulation of the motion equations in redundant coordinates is presented for general non-holonomic systems that is valid in any regular configuration. This gives rise to a globally valid system of redundant differential equations. It is tailored for solving the inverse dynamics problem, and an explicit inverse dynamics solution is presented for general full-actuated systems. Moreover, the proposed formulation gives rise to a non-redundant system of motion equations for non-redundantly full-actuated systems that do not exhibit input singularities.     

The equations of motion of a mechanical system in matrix form

This work recommends methods of construction of equations of motion of mechanical systems in matrix form. The use of a matrix form allows one to write an equation of dynamics in compact form, convenient for the investigation of multidimensional mechanical systems with the help of computers. Use is made of different methods of constructing equations of motion, based on the basic laws of dynamics as well as on the principles of D'Alambert-Lagrange, Hamilton-Ostrogradski and Gauss.     

Macroscopic equations of motion of disperse systems

The macroscopic equations of motion of a two-component system consisting of a continuous phase and a large number of solid particles are considered. The generalized kinetic equation of a pseudogas obtained earlier by the author is expressed in a form more convenient for calculations. The Chapman-Enskog method is used to solve the kinetic equation at small Knudsen numbers and dimensionless number characterizing the transfer of momentum between the phases of order unity. Because of the influence of the continuous phase, the stress tensor in the macroscopic conservation equations of the pseudogas is anisotropic. The obtained macroscopic equations of the pseudogas are more general than the ones proposed earlier by Myasnikov, this being due to the anisotropy of the time constants which occur in the operator of the hydrodynamic interaction.Translated from Izvestiya Akademii Nauk SSSR, Mekhanika Zhidkosti i Gaza, No. 2, pp. 39–44, March–April, 1980.I thank V. P. Myasnikov for posing the problem and for helpful discussions.     

Equations of motion for mechanical systems: A unified approach

This paper presents a unified framework from which emerge the Lagrange equations, the Gibbs-Appell Equations and the Generalized Inverse Equations for describing the motion of constrained mechanical systems. The unified approach extends the applicability of the first two approaches to systems where the constraints are non-linear functions of the generalized velocities and are not necessarily independent. Furthermore, the approach leads to the Explicit Gibbs-Appell Equations.     

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.     

Complex motion of mechanical systems and the computational process

Institute of Cybernetics, Academy of Sciences of the Ukrainian SSR, Kiev. Translated from Prikladnaya Mekhanika, Vol. 27, No. 9, pp. 106–114, September, 1991.     

Analysis of attitude motion evolutions of variable mass gyrostats and coaxial rigid bodies system

This work involves the research into angular motion of variable mass gyrostats, coaxial bodies systems and dual-spin spacecraft in a translating coordinate frame. The variability of mass-inertia parameters of coaxial bodies causes non-trivial changes of system angular motion. The article describes qualitative method for phase space analysis, based on the evaluation of a phase trajectory curvature. The method can be used to investigate the phase trajectory shape and to synthesize conditions for special motion modes realization (for example, monotone decreasing/increasing of nutation angle). The paper results can be used to describe the motion of a variable mass dual-spin spacecraft, performing active maneuvers.     

Analysis of motion of mechanical systems with frictional interaction

Dnepropetrovsk University. Translated from Prikladnaya Mekhanika, Vol. 25, No. 10, pp. 84–96, October, 1989.     

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.     

GIBBS-APPELL’S EQUATIONS OF VARIABLE MASS NONLINEAR NONHOLONOMIC MECHANICAL SYSTEMS

In this paper,the Gibbs-Appell’s equations of motion are extended to the most generalvariable mass nonholonomic mechanical systems.Then the Gibbs-Appell’s equations ofmotion in terms of generalized coordinates or quasi-coordinates and an integral variationalprinciple of variable mass nonlinear nonholonomic mechanical systems are obtained.Finally,an example is given.