Dynamics of free and controlled rigid body motions in the two-state suspension

Victor A. Leontev ^*
PhD in Physics and Mathematics, Russian State Scientific Center for Robotics and Technical Cybernetics (RTC), Senior Research Scientist, 21, Tikhoretsky pr., Saint-Petersburg, 194064, Russia,
tel.: +7(812)297-30-58, This email address is being protected from spambots. You need JavaScript enabled to view it., This email address is being protected from spambots. You need JavaScript enabled to view it., ORCID: 0000-0002-4138-1386

Alexey S. Smirnov
Peter the Great Saint-Petersburg Polytechnical University (SPbPU), Assistant, 29, Politekhnicheskaya ul., Saint-Petersburg, 195251, Russia; Institute for Problems in Mechanical Engineering of the Russian Academy of Sciences (IPME RAS), Research Assistant, 61, V.O., Bolshoj pr., Saint-Petersburg, 199178, Russia, tel.: +7(812)552-77-78, This email address is being protected from spambots. You need JavaScript enabled to view it.

Boris A. Smolnikov
PhD in Physics and Mathematics, SPbPU, Assistant Professor, 29, Politekhnicheskaya ul., Saint-Petersburg, 195251, IPME RAS, Senior Research Scientist, 61, V.O., Bolshoj pr., Saint-Petersburg, 199178, Russia, tel.: +7(812)552-77-78, This email address is being protected from spambots. You need JavaScript enabled to view it.

Received 03 December 2019 

Abstract
The article discusses the dynamic behavior of a rigid body fixed in the gimbal suspension. Such system can be interpreted as two-degree manipulator and used as an element of more complex robotic structures (for example, when combining locomotion-manipulative movements). The analysis of free body motions due to inertia is carried out. As a result, main dimensionless parameters of the problem are defined and qualitative nature of the motions for cyclic and positional coordinates is found, and a phase portrait is also built. In addition, two modes of controlled motion of a solid body are studied, which correspond to different goals. It is shown that collinear control mode simulating inertia forces is accelerating or braking, while orthogonal control mode simulating gyroscopic forces does not change the total mechanical energy of the system. By comparing phase portraits of free motion mode and orthogonal control mode, we can conclude that the latter case has a more complex structure, possessing a number of qualitative features which are clearly demonstrated.

Key words
Rigid body, two-degree manipulator, gimbal suspension, free movement due to inertia, collinear and orthogonal control, phase portrait.

DOI
https://doi.org/10.31776/RTCJ.8106

Bibliographic description
Leontev, V., Smirnov, A. and Smolnikov, B. (2020). Dynamics of free and controlled rigid body motions in the two-state suspension. Robotics and Technical Cybernetics, 8(1), pp.53-60.

UDC identifier:
531.381

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