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RISState Space Characterization of Complex Rigid Body Systems Subject to Control
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: The dynamic equations of systems of rigid bodies are developed as nonlinear, muti-variable control systems in state-space representations. This provides a unified treatment in terms of the general ...
The “Weighted Composite Life” Problem
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: A problem class is identified and characterized: The problem is to optimally select variables of a multi-segment activity or design where there is an overall limiting constraint. A number of ...
Automated Modeling and Rapid Solution of Robot Dynamics Using the Symbolic Polynomial Technique
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: Fast and accurate solutions of the dynamic equations of a robot arm are required for real time on-line control. In this paper we present a new method for rapidly evaluating the exact dynamic ...
Stability of Magnetic Bearing-Rotor Systems Having a Central Support Backup Bearing
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: The unperturbed (fully nonlinear) stability of a magnetic bearing-rotor system having a single central backup bearing near the middle of the shaft is analyzed under conditions of magnetic ...
On the Equations of Motion for Robot Arms and Open Kinematic Chains
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: The closed-form equations of motion for robot arms and other open kinematic chains are derived using the Newton-Euler equations in a form particularly suitable for the automatic modeling and ...
Optimal Design of a Reflected-Core Nuclear Reactor
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: Optimal results are presented for the design of a reflected-core spherical reactor. Complete model development is given. The result is a highly nonlinear system with 2 equality and 13 inequality ...
On Optimal Control Laws for a Class of Constrained Dynamical Systems (With Application to Control of Bipedal Locomotion)
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: The physical and dynamical constraints of a constrained dynamical system are related to system controllability and stability. Proper formulation of these inequality constraints and treatment of ...
A Pendulating Model for Mechanisms With Clearances in the Revolutes
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: A model is developed for evaluating impulsive forces and torques in mechanisms with clearances. It is built around the momentum-exchanges during impacts rather than following the traditional path ...
A Weighted Flexible Tolerance Algorithm for Constrained Minimization
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: A direct search algorithm based upon the flexible tolerance method developed by Paviani and Himmelblau [1] for minimization of a functional subject to nonlinear equality and inequality constraints ...
Impact Spectra and Intensities for High-Speed Mechanisms
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: The local and path-spectra of the impacts between the socket and pin are obtained. It is shown that the dominant impacts occur at only one of the dead points. The other shows a profusion ...