Forward and inverse dynamics of nonholonomic mechanical systems

This paper deals with the forward and the inverse dynamic problems of mechanical systems subjected to nonholonomic constraints. The intrinsically dual nature of these two problems is identified and utilised to develop a systematic approach to formulate and solve them according to an unified framework. The proposed methodology is based on the fundamental equations of constrained motion which derive from Gauss’s principle of least constraint. The main advantage arising from using the fundamental equations of constrained motion is that they represent an effective method capable to derive the generalised acceleration of a mechanical system, constrained in general by a set of nonholonomic constraints, together with the generalized constraint forces (forward dynamics). When the constraint equations are used to represent the desired behaviour of the mechanical system under study, the generalised constraint forces deriving from the fundamental equations of constrained motion provide the control actions which reproduce the specified motion for the system (inverse dynamics). This approach is systematically extended to underactuated mechanical systems introducing a new method named underactuation equivalence principle. The underactuation equivalence principle is founded on the key idea that the underactuation property of a mechanical system can be mathematically represented using a particular set of nonholonomic constraint equations. Two simple case-studies are reported to exemplify the proposed methodology. In the first case-study the computation of the generalised constraint forces relative to the revolute joint constraints of a physical pendulum is illustrated. In the second case-study the calculation of the control action which solves the swing-up problem for an inverted pendulum is described.     

Forces associated with non-linear non-holonomic constraint equations

A concise method has been formulated for identifying a set of forces needed to constrain the behavior of a mechanical system, modeled as a set of particles and rigid bodies, when it is subject to motion constraints described by non-holonomic equations that are inherently non-linear in velocity. An expression in vector form is obtained for each force; a direction is determined, together with the point of application. This result is a consequence of expressing constraint equations in terms of dot products of vectors rather than in the usual way, which is entirely in terms of scalars and matrices. The constraint forces in vector form are used together with two new analytical approaches for deriving equations governing motion of a system subject to such constraints. If constraint forces are of interest they can be brought into evidence in explicit dynamical equations by employing the well-known non-holonomic partial velocities associated with Kane's method; if they are not of interest, equations can be formed instead with the aid of vectors introduced here as non-holonomic partial accelerations. When the analyst requires only the latter, smaller set of equations, they can be formed directly; it is not necessary to expend the labor first to form the former, larger set and subsequently perform matrix multiplications.     

GAUSS PRINCIPLE OF LEAST CONSTRAINT IN GENERALIZED COORDINATES AND ITS GENERALIZATION

当采用广义坐标描述系统的运动时,相比质点形式的高斯最小拘束原理,通过广义坐标形式的高斯最小拘束原理来建立动力学优化模型,计算效率更高. 从高斯原理的变分形式出发推导了广义坐标形式的高斯最小拘束原理,并研究了非理想约束、单边约束及刚体碰撞情形下的高斯最小拘束原理的形式. 研究认为:对刚体碰撞情形下,高斯最小拘束原理不能取代碰撞恢复定律,碰撞恢复定律以碰撞后广义速度的约束方程形式起作用.     

基于高斯原理的非理想系统动力学建模

高斯原理给出了通过求函数极值、从可能运动中鉴别出真实运动的规则, 它可以使得多体系统动力学问题不需通过求解微分(代数)方程, 而是采用求解最小值的优化方法来解决, 从而提供了一种适用于优化算法的建模思路, 因此, 如何定义恰当的高斯拘束函数是动力学优化方法得以实现的前提. 对于理想系统而言, 约束对系统的作用可以通过约束方程来体现, 故高斯拘束可表达为系统质点加速度的函数, 系统的动力学问题因此可以描述为目标函数为高斯拘束函数、优化变量为质点加速度的约束最优化问题; 当系统中需要考虑干摩擦等非理想因素时, 部分相互作用不能被所定义的约束方程所涵盖而需要采用额外的物理规律来描述, 这种相互作用破坏了原有的针对理想系统的高斯拘束函数的极值特性. 基于变分类的高斯原理, 推导并证明了目标函数以理想约束力所表达的非理想系统的极值原理, 针对目前文献中用于非理想系统的高斯原理进行了讨论, 指出其实际为文中的极值原理在非理想约束力与理想约束力无明显关联时的一种特殊表达形式, 当非理想约束力与理想约束力有明显的函数关系(如库仑摩擦定律中滑动摩擦力与法向约束力间的线性关系)时, 该形式失效; 同时根据文中的极值原理, 得到了考虑库仑摩擦时非理想的多体系统动力学问题的优化模型. 例子中分析了优化模型及相应的线性互补性模型的关系, 分析发现在满足刚体滑动问题的唯一性条件下二者互为充分必要条件, 从而证明了文中优化模型的可靠性; 并采用优化计算方法进行了动力学模拟, 模拟结果显示了将高斯原理与优化算法相结合的可行性及有效性.      

DYNAMIC MODELING OF NONIDEAL SYSTEM BASED ON GAUSS'S PRINCIPLE$^{\bf 1)}$

高斯原理给出了通过求函数极值、从可能运动中鉴别出真实运动的规则, 它可以使得多体系统动力学问题不需通过求解微分(代数)方程, 而是采用求解最小值的优化方法来解决, 从而提供了一种适用于优化算法的建模思路, 因此, 如何定义恰当的高斯拘束函数是动力学优化方法得以实现的前提. 对于理想系统而言, 约束对系统的作用可以通过约束方程来体现, 故高斯拘束可表达为系统质点加速度的函数, 系统的动力学问题因此可以描述为目标函数为高斯拘束函数、优化变量为质点加速度的约束最优化问题; 当系统中需要考虑干摩擦等非理想因素时, 部分相互作用不能被所定义的约束方程所涵盖而需要采用额外的物理规律来描述, 这种相互作用破坏了原有的针对理想系统的高斯拘束函数的极值特性. 基于变分类的高斯原理, 推导并证明了目标函数以理想约束力所表达的非理想系统的极值原理, 针对目前文献中用于非理想系统的高斯原理进行了讨论, 指出其实际为文中的极值原理在非理想约束力与理想约束力无明显关联时的一种特殊表达形式, 当非理想约束力与理想约束力有明显的函数关系(如库仑摩擦定律中滑动摩擦力与法向约束力间的线性关系)时, 该形式失效; 同时根据文中的极值原理, 得到了考虑库仑摩擦时非理想的多体系统动力学问题的优化模型. 例子中分析了优化模型及相应的线性互补性模型的关系, 分析发现在满足刚体滑动问题的唯一性条件下二者互为充分必要条件, 从而证明了文中优化模型的可靠性; 并采用优化计算方法进行了动力学模拟, 模拟结果显示了将高斯原理与优化算法相结合的可行性及有效性.     

Non-holonomic mechanics: A geometrical treatment of general coupled rolling motion

In the presented paper, a problem of non-holonomic constrained mechanical systems is treated. New methods in non-holonomic mechanics are applied to a problem of a general coupled rolling motion. Two goals are stressed.The first of them lies in the solution of an originally formulated problem of rolling motion of two rigid cylindrical bodies in the homogeneous gravitational field leading typically to non-linear equations of motion. A solid cylinder can roll inside a ring under the static frictional force assuring rolling without slipping, the ring rolls again without slipping along a generally shaped terrain formed by hills and valleys. “Surprising behaviour” of the mechanical system which permits interesting applications is studied and discussed.The second purpose of the paper is to show that the geometrical theory of non-holonomic constrained systems on fibered manifolds proposed and developed in the last decade by Krupková and others is an effective tool for solving non-holonomic mechanical problems. A comparison of this method to alternative methods is given and the benefits of coordinate-free formulation are mentioned.In this paper, the geometrical theory is applied to the abovementioned mechanical problem. Both types of equations of motion resulting from the theory—deformed equations with the so-called Chetaev-type constraint forces containing Lagrange multipliers, and reduced equations free from multipliers—are found and discussed. Numerical solutions for two particular cases of the motion of the cylindrical system along a cylindrical surface are presented.     

Energy integrals for mechanical systems with nonlinear nonholonomic constraints

The work analyzes energy relations for nonholonomic systems, whose motion is restricted by nonlinear nonholonomic constraints. For the mechanical systems with linear constraints, the analysis of energy relations was carried out in [1], [2], [3], [4], [5], [6] …. On the basis of corresponding Lagrange’s equations, a general law of the change in energy dε/dt is formulated for mentioned systems by the help of which it is shown that there are two types of the laws of conservation of energy, depending on the structure of elementary work of the forces of constraint reactions. Also, the condition for existing the second type of the law of conservation of energy is formulated in the form of the system of partial differential equations. The obtained results are illustrated by a model of nonholonomic mechanical system.     

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.     

On new forms of motive differential equations of a mechanical system relative to non-inertial frame

Based on D'Alembert's principle of a mechanical system relative to non-inertial frame and by introducing the concept of the generalized inertial potential, new forms of differential equations of motion of a mechanical system with holonomic and the non-holonomic constraints relative to the non-inertial frame are obtained. The merits and demerits between our method and the Newtonian dynamic method as well as the analytic dynamic method are discussed comparatively. Finally, two examples are given to illustrate the application of the motive differential equations in the new forms.     

Numerical Methods for Constrained Equations of Motion in Mechanical System Dynamics

ABSTRACT

ABSTRACT A new class of numerical methods for solving equations of motion of constrained mechanical systems is presented, the framework of which is based on manifold theoretic methods. Rewriting the system of differential-algebraic equations (DAEs) that describe constrained motion is ordinary differentia] equations (ODEs) on a constraint manifold, the theoretical framework for solving equations of motion is constructed, using a local     

A new approach to the vakonomic mechanics

The aim of this paper was to show that the Lagrange–d’Alembert and its equivalent the Gauss and Appel principle are not the only way to deduce the equations of motion of the nonholonomic systems. Instead of them we consider the generalization of the Hamiltonian principle for nonholonomic systems with non-zero transpositional relations. We apply this variational principle, which takes into the account transpositional relations different from the classical ones, and we deduce the equations of motion for the nonholonomic systems with constraints that in general are nonlinear in the velocity. These equations of motion coincide, except perhaps in a zero Lebesgue measure set, with the classical differential equations deduced with the d’Alembert–Lagrange principle. We provide a new point of view on the transpositional relations for the constrained mechanical systems: the virtual variations can produce zero or non-zero transpositional relations. In particular, the independent virtual variations can produce non-zero transpositional relations. For the unconstrained mechanical systems, the virtual variations always produce zero transpositional relations. We conjecture that the existence of the nonlinear constraints in the velocity must be sought outside of the Newtonian mechanics. We illustrate our results with examples.     

A Recursive Formulation for Constrained Mechanical System Dynamics: Part II. Closed Loop Systems

ABSTRACT

ABSTRACT A recursive formulation of the equations of motion of constrained mechanical systems with closed loops is derived, using tools of variational and vector calculus. Kinematic couplings between pairs of contiguous bodies presented in Part 1 of this paper are generalized. Lagrange multipliers are introduced to account for the effects of joints that are cut to define a tree structure. Constraint Jacobian terms are added to the reduced variational equations derived in Part I. Cut-joint constraint acceleration equations are derived, to complete the reduced equations of motion. Lagrange multipliers associated with each cut-joint are eliminated at the first junction body encountered that permits closing the loop that constraints in cut joint. The inductive algorithm developed in Part I is used to calculate accelerations for the system. A multi-loop compressor is analyzed to illustrate use of the method.     

Equivalence of Dynamics for Nonholonomic Systems with Transverse Constraints

This paper is concerned with the dynamics of a mechanical system subject to nonintegrable constraints. In the first part, we prove the equivalence between the classical nonholonomic equations and those derived from the nonholonomic variational formulation, proposed by Kozlov in [10–12], for a class of constrained systems with constraints transverse to a foliation. This result extends the equivalence between the two formulations, proved for holonomic constraints, to a class of linear nonintegrable ones. In the second part, we derive the nonholonomic variational reduced equations for a constrained system with symmetry and constraint transverse to a principal bundle fibration, using a reduction procedure similar to the one developed in [5]. The resulting equations are compared with the nonholonomic reduced ones through mechanical examples.     

Explicit dynamics equations of the constrained robotic systems

Recursive matrix relations concerning the kinematics and the dynamics of a constrained robotic system, schematized by several kinematical chains, are established in this paper. Introducing frames and bases, we first analyze the geometrical properties of the mechanism and derive a general set of relations. Kinematics of the vector system of velocities and accelerations for each element of robot are then obtained. Expressed for every independent loop of the robot, useful conditions of connectivity regarding the relative velocities and accelerations are determined for direct or inverse kinematics problem. Based on the general principle of virtual powers, final matrix relations written in a recursive compact form express just the explicit dynamics equations of a constrained robotic system. Establishing active forces or actuator torques in an inverse dynamic problem, these equations are useful in fact for real-time control of a robot.     

Finite and impulsive motion of constrained mechanical systems via Jourdain's principle: discrete and hybrid parameter models

The main purpose of this paper is to present a unified analytical dynamics framework for the analysis of finite and impulsive motion of mechanical systems using Jourdain's principle. Emphasis is given to the general case when a mechanical system is described by a hybrid (discrete-distributed) parameter model. A large group of finite and impulsive, generally non-holonomic, constraints are analysed in detail and a so-called extended Appellian classification is presented for these constrained motion problems. The fundamental dynamic equation of constrained systems is developed in terms of velocity variations (Jourdain's principle). Based on this equation and the constraints, the methods of quasivelocities and Lagrangian multipliers are adopted and interpreted for the finite motion of hybrid parameter models of mechanical systems; and the methods of independent quasivelocity variations and Lagrangian multipliers are introduced for the analysis of impulsive motion of such models. To illustrate the proposed material, an example of a one-link flexible arm intercepting and capturing a moving target is considered.     

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.     

Differential equations of program motions of a mechanical system

We obtain all types and forms of differential equations describing the program motions of a mechanical system both for ideal and nonideal primary constraints. We find the forms of differential equations of motion that significantly simplify the mathematical transformations required to obtain them in explicit form.     

An index 0 Differential-Algebraic equation formulation for multibody dynamics: Holonomic constraints

The Lagrange multiplier form of index 3 differential-algebraic equations of motion for holonomically constrained multibody systems is transformed using tangent space generalized coordinates to an index 0 form that is equivalent to an ordinary differential equation. The index 0 formulation includes embedded tolerances that assure satisfaction of position, velocity, and acceleration constraints and is solved using established explicit and implicit numerical integration methods. Numerical experiments with two spatial applications show that the formulation accurately satisfies constraints, preserves invariants due to conservation laws, and behaves as if applied to an ordinary differential equation.     

含非理想约束多柔体系统递推建模方法

基于多体系统中邻接物体运动学递推关系,可以证明树状多体系统中末端物体的作用体现为传递给其内接物体的惯性和外力. 由于闭环系统切断铰约束反力和非理想约束反力可看作为系统外力,任何复杂系统都可以转化为等效的树系统,并且系统约束方程中所涉及的广义加速度可以系统化地用描述约束反力的拉氏乘子替换. 基于以上结果,提出了针对含非理想约束多柔体系统递推建模方法. 利用该方法可以将复杂多体系统动态减缩为单个物体,从而在求解系统加速度时不需对整个系统的质量矩阵进行求逆运算,同时大幅度地降低了非理想约束反力方程的维数. 通过一个算例具体说明了所提方法的求解过程,算例结果与现有商业软件所得结果一致.      

Kinematical analysis of overconstrained and underconstrained mechanisms by means of computational algebraic geometry

We investigate and explain several exceptional phenomena appearing in mechanism kinematics. The starting point for the kinematical analysis of a mechanism is the formation of the relevant constraint map defining the constraint equations for the coordinates of the particular system. The constraint equations define the configuration space of the mechanism, which reveals the essential kineamtic characteristics. But in some cases the properties of the map, and not the configuration space itself, are important. This is true for example for so called under- and overconstrained mechanisms for which the standard formulation of constraints gives usually not enough or too many constraints when considering the dimension of their configuration space. These concepts also naturally lead to the concept of kinematotropic mechanisms which posses motion modes of different dimension. In this context the concept of a kinematotropy as a motion between such modes is introduced in this paper. We present a general approach to the kinematic analysis of mechanisms using the theory of algebraic geometry and tools of computational algebraic geometry. The configuration space is considered as a real algebraic variety defined by the constraints. The phenomena and needed theory are explained and several illustrative examples are given. In particular the underconstrained phenomenon is explained by considering the real and complex dimension of the configuration space variety.