 | | Mechanics of Solids
A Journal of Russian Academy of Sciences | | Founded
in January 1966
Issued 6 times a year
Print ISSN 0025-6544
Online ISSN 1934-7936 |
Archive of Issues
| Total articles in the database: | | 11223 |
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| In English (Mech. Solids): | | 3212 |
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| A. P. Leutin, "Modeling the motion of bodies connected by friction joints," Mech. Solids. 40 (6), 128-142 (2005) |
| Year |
2005 |
Volume |
40 |
Number |
6 |
Pages |
128-142 |
| Title |
Modeling the motion of bodies connected by friction joints |
| Author(s) |
A. P. Leutin (Zhukovskii) |
| Abstract |
We consider the motion of complex mechanical systems consisting of a
carrier and weights connected to it by joints. We develop an approach
permitting one to solve the dynamic equations of the system for the
accelerations of individual bodies in closed form, thus providing
considerable economy in the number of arithmetic operations compared with
the approaches based on standard numerical methods. On the basis of
similarity theory, we obtain simple approximations for computing the size
of the joint contact region. In view of the dependence of the Coulomb
friction coefficient on the contact pressure, we determine the friction
force and torques in spherical joints. We suggest a scheme for computing
the friction in two iterative cycles. Practical examples of computing the
relative swing of spacecraft stages are given, proving a high convergence
rate of the iterations. The results confirm Chetaev's principle of least
resistance to motion for mechanical systems with friction constraints.
There are diverse mechanical systems of linked bodies [1-5]. In mechanical
engineering, one often deals with systems consisting of a central body
(carrier) and several bodies (weights) connected to it. Such systems have a
tree structure. The "Soyuz" space launcher vehicle is a widely known
example: it has four boosters mounted on the sides of the core vehicle
(Fig. 1). In the stage separation process, after the breakup of the lower
booster assemblies, the boosters turn by a given angle about the upper
booster assemblies; then the upper booster assemblies break up and the
boosters are finally jettisoned sideways from the core vehicle. Systems
with tree structure also include platform devices and launch simulators,
models of spacecraft with fuel tanks, where fuel motion is simulated by
oscillations of mathematical pendulums, etc. |
| References |
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the friction torque in the combined dry friction model for circular contact
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| 23. | A. P. Leutin, "Dynamic effects in spherical joints with dry
friction," Uchen. Zap. TSAGI, Vol. 31, No. 3-4, pp. 55-67, 2000. |
| 24. | V. A. Il'in, "Frictional force and friction torque in hinged
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Moscow, 1967. |
|
| Received |
24 September 2003 |
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