Geometry of a five link mechanism with two degrees of freedom

The paper is devoted to the solution of straight and inverse geometrical tasks of five link mechanism with two degrees of freedom. The solution of the mentioned problem is very important in order to determine kinematic parameters of actuators. The problem can be divided into two parts. The first part is considered when we are given the coordinates of the output link of the mechanism and the necessity arises of determining the angles of rotation of actuators. On the other hand, it is very important to determine the position of the output link when the angles of rotation of the actuators are known. Here we consider that the mechanism is composed only of five classes of rotating kinematic pairs and the actuators are situated at the junctions of frames and links of the examined mechanism. The solution of the said problem is based on utilization of homogenous coordinates. On the basis of the obtained equations of motion, one can calculate the trajectories of motion of the output link as well angles of rotation of the actuators by taking into consideration preliminary given kinematic parameters of the mechanism. Here we also obtain equations for calculating values of speed and acceleration of the links of the mechanism. The calculations differ from known methods in simplicity and high performance, which would be useful for programming actuators mounted in the joints of the linkage.     

Study on feet forces' distributions,energy consumption and dynamic stability measure of hexapod robot during crab walking

This paper deals with the development of a dynamical model related to crab walking of a hexapod robot to determine the feet forces' distributions, energy consumption and dynamic stability measure considering the inertial effects of the legs on the system, which has not been attempted before. Both forward and inverse kinematic analyses of the robot are carried out with an assigned fixed global frame and subsequent local frames in the trunk body and joints of each leg. Coupled multi-body dynamic model of the robot is developed based on free-body diagram approach. Optimal feet forces and corresponding joint torques on all the legs are determined based on the minimization of the sum of the squares of joint torques, using quadratic programming (QP) method. An energy consumption model is developed to determine the minimum energy required for optimal values of feet forces. To ensure dynamically stable gaits, dynamic gait stability margin (DGSM) is determined from the angular momentum of the system about the supporting edges. Computer simulations have been carried out to test the effectiveness of the developed dynamic model with crab wave gaits on a banking surface. It is observed that when the swing leg touches the ground, impact forces (sudden shoot outs) are generated and their effects are also observed on the joints of the legs. The effects of walking parameters, namely trunk body velocity, body stroke, leg offset, body height, crab angle etc. on power consumption and stability during crab motion for duty factors (DFs) like 1/2, 2/3, 3/4 have also been studied.     

Spinorial Method of Terminal Control of Spatial Rotations

In this paper, we introduce the notion of three-dimensional generalized rotations. We obtain relations between the parameters of the spinor representation of the group of three-dimensional generalized rotations and the coordinates of the initial and terminal points of rotation. Simple relations between elements of a three-dimensional orthogonal matrix of the basic representation and the Euler angles, on the one hand, and the coordinates of the initial and terminal points of rotation, on the other hand, were derived. The spinor method of solution of the inverse kinematic problem for spatial mechanisms with spherical pairs is developed and the corresponding algorithm is proposed. The obtained results allow one to reduce the three-dimensional problem of spatial motion control to the one-dimensional problem. Simple adaptive algorithms are suggested, by means of which various partial problems on the terminal control are solved under various terminal conditions. New algorithms of control of spatial rotations of manipulating robots are studied.     

On the theory of the gyropendulum

Precession equations of motion of the gyropendulum relative to the accompanying Darboux trihedron /1/ and, also, precession equations of the gyropendulum motion relative to the geographic trihedron, considered in /2, 3/, are given a kinematic interpretation. Linear differential equations that define the gyropendulum behavior at finite deflection angles of the rotor axis from the vertical are established for arbitrary motions of its suspension point over the surface of the Earth. These equations have the form of kinematic equations of a solid body spherical motion in terms of Rodrigues-Hamilton parameters, and in the case of stationary base they are in agreement with equations established in /4/. The Liapunov stability ot the gyropendulum equations in both the finite Euler—Krylov angles and in the Rodrigues — Hamilton parameters is proved. Particular cases of integrability in quadratures of the gyropendulum precession equations at finite angles are indicated.     

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.     

Modelling of three-dimensional mechanical systems using point coordinates with a recursive approach

In this paper, the dynamic simulation of constrained mechanical systems that are interconnected of rigid bodies is studied using projection recursive algorithm. The method uses the concepts of linear and angular momentums to generate the rigid body equations of motion in terms of the Cartesian coordinates of a dynamically equivalent constrained system of particles, without introducing any rotational coordinates and the corresponding rotational transformation matrix. Closed-chain system is transformed to open-chain by cutting suitable kinematical joints and introducing cut-joint constraints. For the resulting open-chain system, the equations of motion are generated recursively along the serial chains. An example is chosen to demonstrate the generality and simplicity of the developed formulation.     

Mathematical modeling and trajectory planning of mobile manipulators with flexible links and joints

This paper is concerned with mathematical modeling and optimal motion designing of flexible mobile manipulators. The system is composed of a multiple flexible links and flexible revolute joints manipulator mounted on a mobile platform. First, analyzing on kinematics and dynamics of the model is carried out then; open-loop optimal control approach is presented for optimal motion designing of the system. The problem is known to be complex since combined motion of the base and manipulator, non-holonomic constraint of the base and highly non-linear and complicated dynamic equations as a result of the flexible nature of both links and joints are taken into account. In the proposed method, the generalized coordinates and additional kinematic constraints are selected in such a way that the base motion coordination along the predefined path is guaranteed while the optimal motion trajectory of the end-effector is generated. This method by using Pontryagin’s minimum principle and deriving the optimality conditions converts the optimal control problem into a two point boundary value problem. A comparative assessment of the dynamic model is validated through computer simulations, and then additional simulations are done for trajectory planning of a two-link flexible mobile manipulator to demonstrate effectiveness and capability of the proposed approach.     

Quaternionic spherical wave functions

The scalar spherical wave functions (SWFs) are solutions to the scalar Helmholtz equation obtained by the method of separation of variables in spherical polar coordinates. These functions are complete and orthogonal over a sphere, and they can, therefore, be used as a set of basis functions in solving boundary value problems by spherical wave expansions. In this work, we show that there exists a theory of functions with quaternionic values and of three real variables, which is determined by the Moisil–Theodorescu‐type operator with quaternionic variable coefficients, and which is intimately related to the radial, angular and azimuthal wave equations. As a result, we explain the connections between the null solutions of these equations, on one hand, and the quaternionic hyperholomorphic and anti‐hyperholomorphic functions, on the other. We further introduce the quaternionic spherical wave functions (QSWFs), which refine and extend the SWFs. Each function is a linear combination of SWFs and products of ‐hyperholomorphic functions by regular spherical Bessel functions. We prove that the QSWFs are orthogonal in the unit ball with respect to a particular bilinear form. Also, we perform a detailed analysis of the related properties of QSWFs. We conclude the paper establishing analogues of the basic integral formulae of complex analysis such as Borel–Pompeiu's and Cauchy's, for this version of quaternionic function theory. As an application, we present some plot simulations that illustrate the results of this work. Copyright © 2016 John Wiley & Sons, Ltd.     

On the motion of a mechanical system inside a rolling ball

We consider a mechanical system inside a rolling ball and show that if the constraints have spherical symmetry, the equations of motion have Lagrangian form. Without symmetry, this is not true.     

Sensitivity Analysis of the Design Parameters for the Calibration of Cable-driven Parallel Robots

Uncertainties in the kinematic parameters like the pulley positions take a major influence onto the force capability of a cable-driven parallel robot. For that purpose this paper describes a calibration method to estimate exactly the underlying kinematic parameters. As the kinematic is influenced by a variety of different parameter, the calibration can be very complex and time consuming. In this approach, a sensitivity analysis of a cable-driven parallel robot is presented to simplify and enhance the calibration. The results are discussed and the further steps are introduced. (© 2016 Wiley-VCH Verlag GmbH & Co. KGaA, Weinheim)     

A new design concept for milling tools of spherical surfaces obtained by kinematic generation

In this paper, the authors show an original methodology for optimization of tool geometry used in the milling of spherical surfaces. This methodology is based on thorough theoretical research, which highlights the kinematic characteristics of spherical surface generation by milling. These characteristics lead to the conclusion that the constructive angles of tools used in spherical surface milling must have the same values on both cutting edges.     

Numerical solution of the 3D time dependent Schrödinger equation in spherical coordinates: Spectral basis and effects of split-operator technique

We study a numerical solution of the multi-dimensional time dependent Schrödinger equation using a split-operator technique for time stepping and a spectral approximation in the spatial coordinates. We are particularly interested in systems with near spherical symmetries. One expects these problems to be most efficiently computed in spherical coordinates as a coarse grain discretization should be sufficient in the angular directions. However, in this coordinate system the standard Fourier basis does not provide a good basis set in the radial direction. Here, we suggest an alternative basis set based on Chebyshev polynomials and a variable transformation.     

The problem of the time-optimal control of spacecraft reorientation

The use of Pontryagin's maximum principle to solve spacecraft motion control problems is demonstrated. The problem of the optimal control of the spatial reorientation of a spacecraft (as a rigid body) from an arbitrary initial angular position to an assigned final angular position in the minimum rotation time is investigated in detail. The case in which velocity parameters of the motion are constrained is considered. An analytical solution of the problem is obtained in closed form using the method of quaternions, and mathematical expressions for synthesizing the optimal control programme are given. The kinematic problem of spacecraft reorientation is solved completely. A design scheme for solving the maximum principle boundary-value problem for arbitrary turning conditions and inertial characteristics of the spacecraft is given. A solution of the problem of the optimal control of spatial reorientation for a dynamically symmetrical spacecraft is presented in analytical form (to expressions in elementary functions). The results of mathematical modelling of the motion of a spacecraft under optimal control, which confirm the practical feasibility of the control algorithm developed, are given. Estimates have shown that the turn time of modern spacecraft with a constrained magnitude of the angular momentum can be reduced by 15–25% compared with conventional reorientation methods. The greatest effect is achieved for turns through large angles (90° or more) when the final rotation vector is equidistant from the longitudinal axis and the transverse plane of the spacecraft.     

Stabilization of the motions of mechanical systems with variable masses

A holonomic mechanical system with variable masses and cyclic coordinates is considered. Such a system can have generalized steady motions in which the positional coordinates are constant and the cyclic velocities under the action of reactive forces vary according to a given law. Sufficient Routh-Rumyantsev-type conditions for the stability of such motions are determined. The problem of stabilizing a given translational-rotational motion of a symmetric satellite in which its centre of mass moves in a circular orbit and the satellite executes rotational motion about its axis of symmetry is solved.     

Exact solutions of some mixed problems of uncoupled thermoelasticity for a truncated hollow circular cone with a groove along the generatrix

An elastic body of finite dimensions in the form of a truncated hollow circular cone with a groove along the generatrix is considered. The uncoupled problem of thermoelasticity is formulated for this body for different types of boundary conditions on all the surfaces. These are the conditions for specifying the displacements or sliding clamping on surfaces with fixed angular coordinates and the conditions for specifying the stresses on surfaces with a fixed radial coordinate (shear stresses are assumed to be zero). It is assumed that the temperature is a specified function of all the spherical coordinates. Some auxiliary functions, related to the displacements, are introduced first, and equations for these functions are then derived using Lamé's equations. A finite integral Fourier transformation with respect to one of the angular variables is then employed. After this, by solving certain Sturm-Liouville problems, a new integral transformation is constructed and is applied to the equations with respect to the other angular variable. As a result a one-dimensional system of differential equations is obtained, to solve which an integral Mellin transformation is employed in a special way. Finally, exact solutions of some problems of thermoelasticity are constructed in series for this body.     

Structure of Regular Solutions of the Three-Body Schrödinger Equation near the Pair Impact Point

We investigate the six-dimensional Schrödinger equation for a three-body system with central pair interactions of a more general form than Coulomb interactions. Regular general and special physical solutions of this equation are represented by infinite asymptotic series in integer powers of the distance between two particles and in the sought functions of the other three-body coordinates. Constructing such functions in angular bases composed of spherical and bispherical harmonics or symmetrized Wigner D-functions is reduced to solving simple recursive algebraic equations. For projections of physical solutions on the angular bases functions, we derive boundary conditions at the pair impact point.     

Dynamisches Verhalten einer einfach besetzten rotierenden Welle mit Kardangelenken

Summary If a rotating, massless, elastic shaft carrying a disk is supported at the ends by Cardan links, the motion of the disk depends on the angles at the joints and the torques transmitted by the joints. The system is considered for constant angular velocity and constant torques of the driving shafts. The investigation of this nonstationary system leads to two second order differential equations with periodic coefficients. In order to establish conditions for instability the characteristics exponents are calculated by means of generalized Hills determinants. It is found that there exist critical intervals for the angular velocity.     

Stabilization of Multiple Constraints in Multibody Dynamics Using Optimization and a Pseudo-inverse Matrix

An approach for solving the forward dynamics problem for mechanical systems with many closed kinematic chains is presented. The dynamic model takes the form of Differential-Algebraic Equations. An optimization method for stabilization of kinematic constraints using the pseudo-inverse mass matrix of the dynamic equations is suggested. The stabilization algorithm provides minimal deviations of the parameters and their velocities with respect to the solution of the differential equations. Estimation of independent coordinates is not required. The forward and inverse dynamic problems of a spatial mechanism and a spatial moving platform with many closed chains are solved. The effectiveness of the algorithm is analyzed.     

Construction of regular solutions of Schrödinger and Faddeev equations in the linear three-particle configuration limit

We study the six-dimensional Schrödinger and Faddeev equations for a three-particle system with central pairwise interactions more general than the Coulomb interactions. The regular general and particular physical solutions of such equations are represented by infinite series in integer powers of the distance from one of the particles to the center of mass of the other two particles and in some functions of the other three-particle coordinates. Constructing such functions in the angular bases formed by spherical and bispherical harmonics or by symmetrized Wigner D-functions reduces to solving simple algebraic recurrence relations. For the projections of physical solutions on the angular basis functions, we introduce the boundary conditions in the linear three-particle configuration limit.