Mechanics of Solids (about journal) Mechanics of Solids
A Journal of Russian Academy of Sciences
in January 1966
Issued 6 times a year
Print ISSN 0025-6544
Online ISSN 1934-7936

Russian Russian English English About Journal | Issues | Guidelines | Editorial Board | Contact Us

IPMech RASWeb hosting is provided
by the Ishlinsky Institute for
Problems in Mechanics
of the Russian
Academy of Sciences
IssuesArchive of Issues2021-2pp.242-249

Archive of Issues

Total articles in the database: 5420
In Russian (. . ): 2808
In English (Mech. Solids): 2612

<< Previous article | Volume 56, Issue 2 / 2021 | Next article >>
Gevorgyan H.A., "Problem on Optimizing the Motion of an Elastic Tracking Manipulator," Mech. Solids. 56 (2), 242-249 (2021)
Year 2021 Volume 56 Number 2 Pages 242-249
DOI 10.3103/S0025654421020072
Title Problem on Optimizing the Motion of an Elastic Tracking Manipulator
Author(s) Gevorgyan H.A. (Institute of Mechanics National Academy of Sciences of the Republic of Armenia, Yerevan, 0019 Republic of Armenia,
Abstract Relevant problems on modeling mechanisms with elastic links imply the improvement of existing formalisms and algorithms for dynamic analysis, synthesis, and optimal control of the considered class of systems. At the same time, modern research in this area is mainly focused on increasing the speed of computational algorithms without decreasing in the accuracy. If elastic multi-link dynamical systems that do not include closed kinematic chains can be comprehensively investigated using the approach without inversion of the mass matrix (generalized Newton-Euler method), then elastic mechanisms with closed kinematic chains should be studied using the methods with inversion of the mass matrix. The latter class includes the problem on finding the conditional minimum of the action functional in the sense of Ostrogradsky in the presence of holonomic (geometric) additional constraints. In this article, we analyze the problem on optimizing the motion of an elastic three-link tracking manipulator that consists in minimizing the function of deviation of the actuator from a predetermined circumferential trajectory. This problem is also reduced to finding the conditional minimum of the Ostrogradsky action functional in the presence of a holonomic additional constraint.
Keywords tracking manipulator, motion optimization, trajectory of actuator motion, deflection function, elastic deformations
Received 05 February 2020Revised 08 February 2020Accepted 12 February 2020
Link to Fulltext
<< Previous article | Volume 56, Issue 2 / 2021 | Next article >>
Orphus SystemIf you find a misprint on a webpage, please help us correct it promptly - just highlight and press Ctrl+Enter

101 Vernadsky Avenue, Bldg 1, Room 246, 119526 Moscow, Russia (+7 495) 434-3538
Founders: Russian Academy of Sciences, Branch of Power Industry, Machine Building, Mechanics and Control Processes of RAS, Ishlinsky Institute for Problems in Mechanics RAS
© Mechanics of Solids
Rambler's Top100