New integrable problems of motion of a rigid body with a particle oscillating or bouncing in it

Some qualitative aspects of the problem of motion about a fixed point of a rigid body with a particle moving in it in a prescibed (sinusoidal) way was treated in [1–3]. The mechanical system comprised of a rigid body containing an internal mass that moves along a fixed line in the body was considered in several works [4–5]. Recently, an integrable case of this system was found, in which the body is dynamically axisymmetric and moves under no external forces while the particle moves on the axis of dynamical symmetry under the action of Hooke's force to the fixed point [5].In the present note we introduce a more general integrable case in which the particle moves on the axis of dynamical symmetry and is subject to an arbitary conservative force that depends only on the distance from the fixed point. Separation of variables is accomplished and the solution is reduced to quadratures. As a special version of this problem, the case when the particle bounces elastically between two points is briefly discussed.     

Cases of Integrability of Three-Dimensional Dynamic Equations for a Solid

A dynamic model of the interaction of a rigid body with a jet flow of a resistant medium is considered. This model allows us to obtain three-dimensional analogs of plane dynamic solutions for a solid interacting with the medium and to reveal new cases where the equations are Jacobi integrable. In such cases, the integrals are expressed in terms of elementary functions. The classical problems of a spherical pendulum in a flow and three-dimensional motion of a body with a servoconstraint are shown to be integrable. Mechanical and topological analogs of these problems are found     

New solvable problems in the dynamics of a rigid body about a fixed point in a potential field

We determine the general form of the potential of the problem of motion of a rigid body about a fixed point, which allows the angular velocity to remain permanently in a principal plane of inertia of the body. Explicit solution of the problem of motion is reduced to inversion of a single integral. A several-parameter generalization of the classical case due to Bobylev and Steklov is found. Special cases solvable in elliptic and ultraelliptic functions of time are discussed.     

On the integrability of the motion of a heavy particle on a tilted cone and the swinging Atwood machine

In the present note we study the motion of a particle under uniform gravity on a tilted smooth cone. We point out some integrable cases of that problem. In particular, we establish that motion on the cone with semi-vertical angle π/6 and one generator vertical is integrable. Moreover, we show that the swinging Atwood machine is equivalent to a special version of the motion on the tilted cone. This analogy makes it easier to analyze motion of SAM from a geometrical point of view.     

Synthesis of a controller for stabilizing the motion of a rigid body about a fixed point

A method for the approximate design of an optimal controller for stabilizing the motion of a rigid body about a fixed point is considered. It is assumed that rigid body motion is nearly the motion in the classical Lagrange case. The method is based on the common use of the Bellman dynamic programming principle and the averagingmethod. The latter is used to solve theHamilton–Jacobi–Bellman equation approximately, which permits synthesizing the controller. The proposed method for controller design can be used in many problems close to the problem of motion of the Lagrange top (the motion of a rigid body in the atmosphere, the motion of a rigid body fastened to a cable in deployment of the orbital cable system, etc.).     

Stability of high-frequency periodic motions of a heavy rigid body with a horizontally vibrating suspension point

The motion of a heavy rigid body one of whose points (the suspension point) executes horizontal harmonic high-frequency vibrations with small amplitude is considered. The problem of existence of high-frequency periodic motions with period equal to the period of the suspension point vibrations is considered. The stability conditions for the revealed motions are obtained in the linear approximation. The following three special cases of mass distribution in the body are considered; a body whose center of mass lies on the principal axis of inertia, a body whose center of mass lies in the principal plane of inertia, and a dynamically symmetric body.     

Solution of the optimal turn problem for a spherically symmetric rigid body with arbitrary boundary conditions in the class of generalized conical motions

We consider the problem of time- and energy consumption-optimal turn of a rigid body with spherical mass distribution under arbitrary boundary conditions on the angular position and angular velocity of the rigid body. The optimal turn problem is modified in the class of generalized conical motions, which allows one to obtain closed-form solutions for equations of motion with arbitrary constants. Thus, solving the optimal control boundary value problem is reduced to solving a system of nonlinear algebraic equations for the constants. Numerical examples are considered to illustrate the proximity between the solutions of the traditional and modified problems of optimal turn of a rigid body.     

Kinematic problem of optimal nonlinear stabilization of angular motion of a rigid body

The problem of optimal transfer of a rigid body to a prescribed trajectory of preset angular motion is considered in the nonlinear statement. (The control is the vector of absolute angular velocity of the rigid body.) The functional to be minimized is a mixed integral quadratic performance criterion characterizing the general energy expenditure on the control and deviations in the state coordinates.Pontryagin’s maximum principle is used to construct the general analytic solution of the problem in question which satisfies the necessary optimality condition and ensures the asymptotically stable transfer of the rigid body to any chosen trajectory of preset angular motion. It is shown that the obtained solution also satisfies Krasovskii’s optimal stabilization theorem.     

Biquaternion solution of the kinematic control problem for the motion of a rigid body and its application to the solution of inverse problems of robot-manipulator kinematics

The problem of reducing the body-attached coordinate system to the reference (programmed) coordinate system moving relative to the fixed coordinate system with a given instantaneous velocity screw along a given trajectory is considered in the kinematic statement. The biquaternion kinematic equations of motion of a rigid body in normalized and unnormalized finite displacement biquaternions are used as the mathematical model of motion, and the dual orthogonal projections of the instantaneous velocity screw of the body motion onto the body coordinate axes are used as the control. Various types of correction (stabilization), which are biquaternion analogs of position and integral corrections, are proposed. It is shown that the linear (obtained without linearization) and stationary biquaternion error equations that are invariant under any chosen programmed motion of the reference coordinate system can be obtained for the proposed types of correction and the use of unnormalized finite displacement biquaternions and four-dimensional dual controls allows one to construct globally regular control laws. The general solution of the error equation is constructed, and conditions for asymptotic stability of the programmed motion are obtained. The constructed theory of kinematic control of motion is used to solve inverse problems of robot-manipulator kinematics. The control problem under study is a generalization of the kinematic problem [1, 2] of reducing the body-attached coordinate system to the reference coordinate system rotating at a given (programmed) absolute angular velocity, and the presentedmethod for solving inverse problems of robotmanipulator kinematics is a development of the method proposed in [3–5].     

Application of the integral manifold method to the analysis of the spatial motion of a rigid body fixed to a cable

We analyze the spatial motion of a rigid body fixed to a cable about its center of mass when the orbital cable system is unrolling. The analysis is based on the integral manifold method, which permits separating the rigid body motion into the slow and fast components. The motion of the rigid body is studied in the case of slow variations in the cable tension force and under the action of various disturbances.We estimate the influence of the static and dynamic asymmetry of the rigid body on its spatial motion about the cable fixation point. An example of the analysis of the rigid body motion when the orbital cable system is unrolling is given for a special program of variations in the cable tension force. The conditions of applicability of the integral manifold method are analyzed.     

Multimode laws of control of rigid body motions

The problem of control of motion of a rigid body (aircraft, satellite, or landing module) is studied. A multimode control law that can stabilize not only one prescribed motion of the body but any motion in a sufficiently broad class is constructed. The problem is solved in nonlinear setting under indeterminacy conditions on the basis of Lyapunov functions. The control law is constructed in the class of bounded discontinuous laws, special zero-overshoot response modes are constructed, and the specific character of mechanical systems is used.     

Construction of optimal laws of variation in the angular momentum vector of a dynamically symmetric rigid body

We consider the problem of construction of optimal laws of variation in the angular momentum vector of a dynamically symmetric rigid body so as to ensure the transition of the rigid body from an arbitrary initial angular position to the required final angular position. For the functionals to be minimized, we use combined performance functionals, one of which characterizes the expenditure of time and of the squared modulus of the angular momentum vector in a given proportion, while the other characterizes the expenditure of time and momentum of the modulus of the angular momentum vector necessary to change the rigid body orientation. The control (the vector of the rigid body angular momentum) is assumed to be bounded in the modulus. The problem is solved by using Pontryagin’s maximum principle and the quaternion differential equation [1, 2] relating the vector of the dynamically symmetric rigid body angular momentum to the quaternion of orientation of the coordinate system rotating with respect to the rigid body about its dynamical symmetry axis at an angular velocity proportional to the angular momentum vector projection on the axis. The use of such a model of rotational motion leads to the problem of optimal control with the moving right end of the trajectory and significantly simplifies the analytic study of the problem of construction of optimal laws of variation in the angular momentum vector, because this model explicitly exploits the body angular momentum quaternion (control) instead of the rigid body absolute angular velocity quaternion. We construct general analytic solutions of the differential equations for the boundary-value problems which form systems of nine nonlinear differential equations. It is shown that the process of solving the differential boundary-value problems is reduced to solving two scalar algebraic transcendental equations.     

线弹性幂强化材料平面杆系弹塑性分析的数值解

各杆任意铰接在一个刚体上的平面杆系是一种比较复杂的杆系结构,某些其它类型的平面杆系常常可以看作是它的特例。本文将材料的本构关系描述为线性幂强化形式,推导出了该类平面杆系结构弹塑性分析的普遍表达式,编制了通用程序,使这一类问题有了一个通用的解题方法。     

LONGITUDINAL SHEAR PROBLEMS OF COLLINEAR RIGID LINE INCLUSIONS IN ANISOTROPIC MATERIALS

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New solutions of classical problems in rigid body dynamics

The equations of motion of a rigid body acted upon by general conservative potential and gyroscopic forces were reduced by Yehia to a single second-order differential equation. The reduced equation was used successfully in the study of stability of certain simple motions of the body. In the present work we use the reduced equation to construct a new particular solution of the dynamics of a rigid body about a fixed point in the approximate field of a far Newtonian centre of attraction. Using a transformation to a rotating frame we also construct a new solution of the problem of motion of a multiconnected rigid body in an ideal incompressible fluid. It turns out that the solutions obtained generalize a known solution of the simplest problem of motion of a heavy rigid body about a fixed point due to Dokshevich.     

各向异性材料界面共线刚性线夹杂的反平面问题

研究两种各向异性材料焊接界面含共线刚性线夹杂的反平面问题,导出了一般问题的公式和几个典型问题的封闭形式解,求出了刚性线尖端的应力分布,从文中解答的特殊情况,直接导出各向性材料界面与均匀各向异性介质中相应问题的公式与结果,并与有关文献相一致。     

Stability problem for pendulum-type motions of a rigid body in the Goryachev-Chaplygin case

We consider the motion of a rigid body with a single fixed point in a homogeneous gravity field. The body mass geometry and the initial conditions for its motion correspond to the case of Goryachev—Chaplygin integrability. We study the orbital stability problem for periodic motions corresponding to vibrations and rotations of the rigid body rotating about the equatorial axis of the inertia ellipsoid.In [1], it was proved that these periodic motions are orbitally unstable in the linear approximation. It was also shown that, to solve the stability problem in the nonlinear setting, it does not suffice to analyze terms up to the fourth order in the expansion of the Hamiltonian function in the canonical variables.The present paper shows that in this problem one deals with a special case where standard methods for stability analysis based on the coefficients in the normal form of the Hamiltonian of the perturbed equations of motion do not apply. We use Chetaev’s theorem to prove the orbital instability of these periodic motions in the rigorous nonlinear statement of the problem. The proof uses the additional first integral of the Goryachev—Chaplygin problem in an essential way.     

On the solution of the Darboux problem

We consider the problem of determining the angular position of a rigid body in space from its known angular velocity and initial position (the Darboux problem) in quaternion setting. For an arbitrary angular velocity vector of the body, we present a solution based on Lappo-Danilevskii’s recursion relations [1]. New special cases of solvability of the Darboux problem in closed form are obtained.     

A Generalized Formulation of Elastodynamics: Small on Rigid

The conventional theory of linearized elastodynamics addresses the case of motions that have small displacement gradients with respect to a reference configuration of the elastic body that is unstressed and at rest. Here, we develop a theory of much wider applicability in which the linearization is with respect to a reference configuration that is in rigid motion. More specifically, with an eye toward application of the theory to analysis of the motions of relatively inflexible machine parts, we view the motion as being composed of a rigid motion, which corresponds to the applied loads and initial conditions for the body under consideration, and an infinitesimal motion, in which the displacement from the rigid motion has a small gradient.     

Modeling of the 3D rocking problem

The rocking motion of a rigid rectangular prism on a moving base is a complex three dimensional phenomenon. Although, with very few exceptions, the previous models in the literature make the simplified assumption that this motion is planar, this is usually not true since a body will probably not be aligned with the direction of the ground motion. Thus, even in the case where the body is fully symmetric, the rocking motion involves three dimensional rotations and displacements.In this work, a three dimensional formulation is introduced for the rocking motion of a rigid rectangular prism on a deformable base. Two models are developed: the Concentrated Springs Model and the Winkler Model. Both sliding and uplift are taken into account and the fully non-linear equations of the problem are developed and solved numerically.The models developed are later used to examine the behavior of bodies subjected to general ground excitations. The contribution of phenomena neglected in previous models, such as twist, is stressed.