Dynamic model of a flying manipulator with two highly flexible links

Nonlinear dynamic model of a flying manipulator with two revolute joints and two highly flexible links is obtained using Hamilton’s principle. Flying base of the manipulator is a rigid body. Stress is treated three dimensionally in the isotropic linearly-elastic links, but the in-plane and out-of-plane warpings of the links’ cross-sections are neglected. Although the links’ cross-sections undergo negligible elastic orientation, their models are more accurate than a nonlinear 3D Euler–Bernoulli beam. Tension, compression, twisting and spatial deflections of each link are coupled to each other by some nonlinear terms including two new ones. In the issue of flying flexible-link manipulators new terminologies, namely forward/inverse kinetics instead of forward/inverse kinematics are suggested, since determination of position and orientation of the end-effector is coupled to the partial differential motion equations.     

Control concepts for a parallel manipulator with flexible links

Light-weight robots are advantageous considering the low energy consumption and the low material cost. However, in light-weight structures significant oscillations can occur which make the control very challenging. Objective of this research is end-effector trajectory tracking of a parallel manipulator with flexible links. Hereby, only the manipulator's drives are used, and no additional actuation on the flexible bodies is considered. For accurate trajectory tracking, feedforward control of the manipulator is used based on inverse dynamics and servo-constraints, combined with feedback control of the drive positions. (© 2016 Wiley-VCH Verlag GmbH & Co. KGaA, Weinheim)     

Dynamical invariants of rigid motions on the hyperbolic plane

This paper is devoted to the investigation of the geometry of left invariant metrics on the isometry group of the hyperbolic plane determined by the kinetic energy of a rigid particle system.Dedicated to the memory of Professor A. M. Vasil'ev (1923–1987)     

Modelling the motion of a three-link manipulator based on a plane with a time-dependent inclination

This work deals with the modelling of a three-link manipulator mounted on a plane with a time-dependent inclination. Two cases are considered.

• (i)The plane is part of a rigid body.
• (ii)The plane is in a moored ship.

     

A kinematic interpretation of the motion of a heavy rigid body with a fixed point

A kinematic interpretation of the motion of a rigid body with a fixed point is proposed using the rolling of a mobile hodograph, which describes, on the ellipsoid of inertia, a vector collinear with the vector of the angular velocity of the body, with respect to a fixed vector. On the basis of this, an interpretation of the motion of the body in the Steklov, Grioli, Dokshevich and Bobylev – Steklov solutions is obtained. A new formula is derived indicating the connection between the angle of precession and the polar angle of the equations of the fixed hodograph, indicated by Kharlamov.     

The equilibrium of a rigid body on a plane with anisotropic dry friction

The problem of the conditions for the static equilibrium of a body, resting on a rough plane at one, two or three points, is considered. It is assumed that an arbitrary system of active forces is applied to the body, while the friction on the rough supporting plane is anisotropic. This model generalizes the well-known isotropic model of Coulomb dry friction. Explicit analytic formulae, which express the necessary and sufficient conditions for static equilibrium, are obtained. The investigation procedure uses the idea of an anisotropic force of static friction, which enables analytical results for the equilibrium conditions to be obtained more easily.     

New kinematic parameters of the finite rotation of a rigid body

A new family of kinematic parameters for the orientation of a rigid body (global and local) is presented and described. All the kinematic parameters are obtained by mapping the variables onto a corresponding orientated subspace (hyperplane). In particular, a method of stereographically projecting a point belonging to a five-dimensional sphere S⁵ ⊂ R⁶ onto an orientated hyperplane R⁵ is demonstrated in the case of the classical direction cosines of the angles specifying the orientation of two systems of coordinates. A family of global kinematic parameters is described, obtained by mapping the Hopf five-dimensional kinematic parameters defined in the space R⁵ onto a four-dimensional orientated subspace R⁴. A correspondence between the five-dimensional and four-dimensional kinematic parameters defined in the corresponding spaces is established on the basis of a theorem on the homeomorphism of two topological spaces (a four-dimensional sphere S⁴ ⊂ R⁵ with one deleted point and an orientated hyperplane in R⁴). It is also shown to which global four-dimensional orientation parameters–quaternions defined in the space R⁴ the classical local parameters, that is, the three-dimensional Rodrigues and Gibbs finite rotation vectors, correspond. The kinematic differential rotational equations corresponding to the five-dimensional and four-dimensional orientation parameters are obtained by the projection method. All the rigid body kinematic orientation parameters enable one, using the kinematic equations corresponding to them, to solve the classical Darboux problem, that is, to determine the actual angular position of a body in a three-dimensional space using the known (measured) angular velocity of rotation of the object and its specified initial position.     

An equivalent mechanical model for fluid sloshing in a rigid cylindrical tank equipped with a rigid annular baffle

A mass-spring mechanical model for linear sloshing of fluid in a rigid cylindrical tank with a rigid annual baffle is developed. By means of the subdomain method, the complicated fluid domain is divided into several subdomains with pure boundary conditions and interface conditions. Combined with the continuity conditions of velocity and pressure on interfaces, the velocity potential of fluid in each subdomain is analytically solved. The mass-spring model for fluid sloshing is established by generating the same hydrodynamic shear force and overturning moment as those from the exact solutions when the tank is subjected to horizontal excitations. The present model gives all the mechanical parameters including the convective mass-spring oscillators and the impulsive mass as well as their positions. Comparative studies between the present solutions and the available results verify the correctness of the mechanical model. Based on the normalized equivalent masses and spring stiffnesses, the dynamic responses of fluid in tanks are discussed with respect to the fluid height, the baffle position and the inner radius of the baffle, respectively. The present model is especially suitable for dealing with complicated liquid-structure systems. The motivation and novelty of this study are confirmed by an application of the present model to a multi-tank system.     

A dynamically consistent model of the contact stresses in the plane motion of a rigid body

The problem of determining dry friction forces in the case of the motion of a rigid body with a plane base over a rough surface is discussed. In view of the dependence of the friction forces on the normal load, the solution of this problem involves constructing a model of the contact stresses. The contact conditions impose three independent constraints on the kinematic characteristics, and the model must therefore include three free parameters, which are determined from these conditions at each instant. When the body is supported at three points, these parameters (for which the normal stresses can be taken) completely determine the model, while indeterminacy arises in the case of a larger number of contact points and, in order to remove this, certain physical hypotheses have to be accepted. It is shown that contact models consistent with the dynamics possess certain new qualitative properties compared with the traditional quasi-static models in which the type of motion of the body is not taken into account. In particular, a dependence of the principal vector and principal moment of the friction forces on the direction of sliding or pivoting of the body, as well as on the magnitude of the angular velocity, is possible.     

Dynamical behavior for a cross-diffusion model of forests

In this paper, the existence of a bounded global attractor for a Cross-Diffusion model of forest with homogeneous Dirichlet boundary condition is proved under some condition on the parameters.     

Asymptotic behavior for a nematic liquid crystal model with different kinematic transport properties

We study the asymptotic behavior of global classical solutions to hydrodynamical systems modeling the nematic liquid crystal flows under kinematic transports for molecules of different shapes. The coupling system consists of Navier–Stokes equations and kinematic transport equations for the molecular orientations. We prove the convergence of global solutions to single steady states as time tends to infinity as well as estimates on the convergence rate both in 2D for arbitrary regular initial data and in 3D for certain particular cases.     

Dynamical study and robustness for a nonlinear wastewater treatment model

In this work we deal with a wastewater treatment by using the activated sludge process. The problem is formulated as a nonlinear dynamical system. Firstly, we develop the dynamical study of the model when all parameters are well known. Hence, basic properties of invariance and dissipation are established and, under a suitable condition on parameters, a globally asymptotically stable equilibrium point occurs. Secondly, when the bacterium growth function and the substrate concentration in the feed stream are not well known, the robustness analysis provides the existence of an attractor domain to which all trajectories of the system converge. Finally, we prove that we can reduce the size (volume) of this attractor domain by increasing the recycle rate to a maximum fixed level.     

Computer system for kinematic and dynamic analysis synthesis of rigid and flexible multibody systems

In the paper an overview of a general numerical algorithm and program system library for deriving the kinematic constraint equations and dynamic equations of motion, as well as, computation of their first and second order partial derivatives with respect to kinematic parameters of motion, design parameters and mass and inertia characteristics for rigid and flexible multibody systems is presented. These are the main basic computational modules for implementation of kinematic and dynamic synthesis, optimization and design. The main theoretical basis consists in matrix methods for deriving the kinematic constraints and dynamic equations, as well as, the generalized Newton – Euler dynamic equations for rigid and flexible bodies, and finite element discretization in relative coordinates. Block–scheme of the computational procedures and problem oriented program compilation is presented. An example of kinematic synthesis of six–link path generating mechanism with singular points is presented. (© 2008 WILEY-VCH Verlag GmbH & Co. KGaA, Weinheim)     

Dynamical behavior of a stochastic predator-prey model with stage structure for prey

Abstract

In the present paper, we focus on a stochastic predator-prey model with stage structure for prey. Firstly, by using the stochastic Lyapunov function method, we obtain sufficient conditions for the existence and uniqueness of an ergodic stationary distribution of the positive solutions to the model. Then we establish sufficient conditions for extinction of the predator population in two cases. Some examples and numerical simulations are carried out to validate our analytical findings.     

An example of a one-dimensional rigid set in the plane

Novosibirsk. Translated fromSibirskiî Matematicheskiî Zhurnal, Vol. 34, No. 6, pp. 3–9, November–December, 1993.     

The stability of the plane periodic motions of a symmetrical rigid body with a fixed point

A rigorous non-linear analysis of the orbital stability of plane periodic motions (pendulum oscillations and rotations) of a dynamically symmetrical heavy rigid body with one fixed point is carried out. It is assumed that the principal moments of inertia of the rigid body, calculated for the fixed point, are related by the same equation as in the Kovalevskaya case, but here no limitations are imposed on the position of the mass centre of the body. In the case of oscillations of small amplitude and in the case of rotations with high angular velocities, when it is possible to introduce a small parameter, the orbital stability is investigated analytically. For arbitrary values of the parameters, the non-linear problem of orbital stability is reduced to an analysis of the stability of a fixed point of the simplectic mapping, generated by the system of equations of perturbed motion. The simplectic mapping coefficients are calculated numerically, and from their values, using well-known criteria, conclusions are drawn regarding the orbital stability or instability of the periodic motion. It is shown that, when the mass centre lies on the axis of dynamic symmetry (the case of Lagrange integrability), the well-known stability criteria are inapplicable. In this case, the orbital instability of the periodic motions is proved using Chetayev's theorem. The results of the analysis are presented in the form of stability diagrams in the parameter plane of the problem.     

Dynamical properties of a stochastic predator-prey model with functional response

A stochastic prey-predator model with functional response is investigated in this paper. A complete threshold analysis of coexistence and extinction is obtained. Moreover, we point out that the stochastic predator-prey model undergoes a stochastic Hopf bifurcation from the viewpoint of numerical simulations. Some numerical simulations are carried out to support our results.     

An asymptotic form of the energy functional for an elastic body with a crack and a rigid inclusion. The plane problem

The plane problem in the linear theory of elasticity for a body with a rigid inclusion located within it is investigated. It is assumed that there is a crack on part of the boundary joining the inclusion and the matrix and complete bonding on the remaining part of the boundary. Zero displacements are specified on the outer boundary of the body. The crack surface is free from forces and the stress state in the body is determined by the bulk forces acting on it. The variation in the energy functional in the case of a variation in the rigid inclusion and the crack is investigated. The deviation of the solution of the perturbed problem from the solution of the initial problem is estimated. An expression is obtained for the derivative of the energy functional with respect to a zone perturbation parameter that depends on the solution of the initial problem and the form of the vector function defining the perturbation. Examples of the application of the results obtained are studied.     

Analysis of a kinematic dynamo model with FEM–BEM coupling

We consider a kinematic dynamo model in a bounded interior simply connected region Ω and in an insulating exterior region . In the so‐called direct problem, the magnetic field B and the electric field E are unknown and are driven by a given incompressible flow field w . After eliminating E , a vector and a scalar potential ansatz for B in the interior and exterior domains, respectively, are applied, leading to a coupled interface problem. We apply a finite element approach in the bounded interior domain Ω, whereas a symmetric boundary element approach in the unbounded exterior domain Ω^c is used. We present results on the well‐posedness of the continuous coupled variational formulation, prove the well‐posedness and stability of the semi‐discretized and fully discretized schemes, and provide quasi‐optimal error estimates for the fully discretized scheme. Copyright © 2013 John Wiley & Sons, Ltd.