Mechanics of Solids (about journal) Mechanics of Solids
A Journal of Russian Academy of Sciences
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IssuesArchive of Issues2021-2pp.197-210

Archive of Issues

Total articles in the database: 4932
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Borisov A.V., Kaspirovich I.E., and Mukharlyamov R.G., "Dynamic Control of Compound Structure with Links of Variable Length," Mech. Solids. 56 (2), 197-210 (2021)
Year 2021 Volume 56 Number 2 Pages 197-210
DOI 10.3103/S0025654421020059
Title Dynamic Control of Compound Structure with Links of Variable Length
Author(s) Borisov A.V. (Smolensk Branch, Moscow Power Engineering Institute, Smolensk, 214013 Russia, borisowandrej@yandex.ru)
Kaspirovich I.E. (RUDN University (Peoples' Friendship University of Russia), Moscow, 117198 Russia, kaspirovich.ivan@mail.ru)
Mukharlyamov R.G. (RUDN University (Peoples' Friendship University of Russia), Moscow, 117198 Russia, robgar@mail.ru)
Abstract The modeling of a mechanical system with an arbitrary number of links of variable length that are composed of two weightless sections of variable length and a massive absolutely solid rod located between them is considered. The problem on controlling the purposeful motion of a system with an arbitrary number of links of variable length is analyzed. Control is performed by changing the length of the weightless sections of the links and changing the angles between the links. The constraint between the links is realized by two cylindrical hinges, providing significant mechanical strength, simplicity of design, and arrangement of control drives. Changing the angles between model links is also a control. A system of differential equations of motion is constructed and written in the vector-matrix form. As an example of using the developed model, an anthropomorphic mechanical system in the form of a skier-snowboarder is considered. The skier-snowboarder model takes into account the nonholonomic constraint of the ski to the surface. A system of differential equations of motion is constructed and an analysis of changes in the equations is carried out by taking into account nonholonomic constraints. A numerical example of modeling the movement of a skier-snowboarder using control based on the constraint stabilization method is considered.
Keywords mechanical system, link of variable length, arbitrary number of links, system of differential equations of motion, control, purposeful motion, constraint perturbations, skier-snowboarder, ski, nonholonomic constraint, link of variable length, hinge
Received 21 December 2019Revised 12 January 2020Accepted 14 January 2020
Link to Fulltext https://link.springer.com/article/10.3103/S0025654421020059
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