Rigid-Body Approximations to Turbulent Motion in a Liquid-Filled, Precessing, Spherical Cavity

1972 ◽  
Vol 39 (1) ◽  
pp. 18-24 ◽  
Author(s):  
J. P. Vanyo ◽  
P. W. Likins
Keyword(s):  
Rigid Body ◽  
Viscous Liquid ◽  
Spherical Cavity ◽  
State Energy ◽  
Layer Structure ◽  
Equations Of Motion ◽  
Solid Sphere ◽  
Turbulent Motion ◽  
Rotating Fluid ◽  
Spherical Shells

Rigid-body approximations for turbulent motion in a liquid-filled, spinning and precessing, spherical cavity are presented. The first model assumes the turbulent liquid to spin and precess as a rigid solid sphere coupled to the cavity wall by a thin layer of massless viscous liquid. The second model replaces the layer of massless viscous liquid by a series of n concentric rigid spherical shells. The number and thickness of the shells can be varied so that the interior sphere varies from a negligible diameter to nearly the diameter of the cavity. Although these models do not provide solutions of the fluid equations of motion, they yield steady-state energy dissipation rates that compare favorably with existing experimental data associated with turbulent flow in such a cavity. The models also duplicate several other important features of rotating fluid flow theory. In particular, the motions of the concentric shells exhibit characteristics associated with a classic Ekman layer structure.

scholarly journals Closed-form time derivatives of the equations of motion of rigid body systems

2021 ◽  
Author(s):  
Andreas Müller ◽  
Shivesh Kumar
Keyword(s):  
Rigid Body ◽  
Closed Form ◽  
Multibody Systems ◽  
Equations Of Motion ◽  
Alternative Formulation ◽  
Dynamics Of Rigid Body ◽  
Control Forces ◽  
And Control ◽  
Derivatives Of ◽  
Insight Into

AbstractDerivatives of equations of motion (EOM) describing the dynamics of rigid body systems are becoming increasingly relevant for the robotics community and find many applications in design and control of robotic systems. Controlling robots, and multibody systems comprising elastic components in particular, not only requires smooth trajectories but also the time derivatives of the control forces/torques, hence of the EOM. This paper presents the time derivatives of the EOM in closed form up to second-order as an alternative formulation to the existing recursive algorithms for this purpose, which provides a direct insight into the structure of the derivatives. The Lie group formulation for rigid body systems is used giving rise to very compact and easily parameterized equations.

scholarly journals Inertial motions of a rigid body with a cavity filled with a viscous liquid

2013 ◽  
Vol 341 (11-12) ◽  
pp. 760-765 ◽  
Author(s):  
Giovanni P. Galdi ◽  
Giusy Mazzone ◽  
Paolo Zunino
Keyword(s):  
Rigid Body ◽  
Viscous Liquid

A Hybrid Highly Parallelizable Algorithm for the Dynamics of Rigid Body Chain Systems

1999 ◽  
Author(s):  
Shanzhong Duan ◽  
Kurt S. Anderson
Keyword(s):  
Rigid Body ◽  
Degrees Of Freedom ◽  
High Efficiency ◽  
Equations Of Motion ◽  
Constraint Forces ◽  
Dynamics Of Rigid Body ◽  
A Chain ◽  
Explicit Determination ◽  
Order Algorithm

Abstract The paper presents a new hybrid parallelizable low order algorithm for modeling the dynamic behavior of multi-rigid-body chain systems. The method is based on cutting certain system interbody joints so that largely independent multibody subchain systems are formed. These subchains interact with one another through associated unknown constraint forces f¯c at the cut joints. The increased parallelism is obtainable through cutting the joints and the explicit determination of associated constraint loads combined with a sequential O(n) procedure. In other words, sequential O(n) procedures are performed to form and solve equations of motion within subchains and parallel strategies are used to form and solve constraint equations between subchains in parallel. The algorithm can easily accommodate the available number of processors while maintaining high efficiency. An O[(n+m)Np+m(1+γ)Np+mγlog2Np](0<γ<1) performance will be achieved with Np processors for a chain system with n degrees of freedom and m constraints due to cutting of interbody joints.

The Global Motion of a Rigid Body Subject to Periodic Body-Fixed Torques

1995 ◽  
Author(s):  
X. Tong ◽  
B. Tabarrok
Keyword(s):  
Rigid Body ◽  
Equations Of Motion ◽  
Melnikov Method ◽  
The Body ◽  
Body Motion ◽  
Heteroclinic Orbits ◽  
Coordinate Frame ◽  
Global Motion ◽  
Stable And Unstable Manifolds ◽  
Body Subject

Abstract In this paper the global motion of a rigid body subject to small periodic torques, which has a fixed direction in the body-fixed coordinate frame, is investigated by means of Melnikov’s method. Deprit’s variables are introduced to transform the equations of motion into a form describing a slowly varying oscillator. Then the Melnikov method developed for the slowly varying oscillator is used to predict the transversal intersections of stable and unstable manifolds for the perturbed rigid body motion. It is shown that there exist transversal intersections of heteroclinic orbits for certain ranges of parameter values.

MULTIBODY DYNAMIC MODELING AND FLUTTER ANALYSIS OF A FLEXIBLE SLENDER VEHICLE

2012 ◽  
Vol 12 (06) ◽  
pp. 1250049 ◽  
Author(s):  
A. RASTI ◽  
S. A. FAZELZADEH
Keyword(s):  
Differential Equations ◽  
Rigid Body ◽  
Dynamic Modeling ◽  
Equations Of Motion ◽  
The Body ◽  
Elastic Deformations ◽  
Strip Theory ◽  
Multibody Dynamic ◽  
Flutter Analysis ◽  
Rigid Body Motions

In this paper, multibody dynamic modeling and flutter analysis of a flexible slender vehicle are investigated. The method is a comprehensive procedure based on the hybrid equations of motion in terms of quasi-coordinates. The equations consist of ordinary differential equations for the rigid body motions of the vehicle and partial differential equations for the elastic deformations of the flexible components of the vehicle. These equations are naturally nonlinear, but to avoid high nonlinearity of equations the elastic displacements are assumed to be small so that the equations of motion can be linearized. For the aeroelastic analysis a perturbation approach is used, by which the problem is divided into a nonlinear flight dynamics problem for quasi-rigid flight vehicle and a linear extended aeroelasticity problem for the elastic deformations and perturbations in the rigid body motions. In this manner, the trim values that are obtained from the first problem are used as an input to the second problem. The body of the vehicle is modeled with a uniform free–free beam and the aeroelastic forces are derived from the strip theory. The effect of some crucial geometric and physical parameters and the acting forces on the flutter speed and frequency of the vehicle are investigated.

Seismic Analysis of Structures With Coulomb Friction

1983 ◽  
Vol 105 (2) ◽  
pp. 171-178 ◽  
Author(s):  
V. N. Shah ◽  
C. B. Gilmore
Keyword(s):  
Rigid Body ◽  
Coulomb Friction ◽  
Seismic Event ◽  
Seismic Analysis ◽  
Equations Of Motion ◽  
Relative Displacement ◽  
Rigid Body Motion ◽  
Body Motion ◽  
Superposition Method ◽  
Modal Superposition Method

A modal superposition method for the dynamic analysis of a structure with Coulomb friction is presented. The finite element method is used to derive the equations of motion, and the nonlinearities due to friction are represented by pseudo-force vector. A structure standing freely on the ground may slide during a seismic event. The relative displacement response may be divided into two parts: elastic deformation and rigid body motion. The presence of rigid body motion necessitates the inclusion of the higher modes in the transient analysis. Three single degree-of-freedom problems are solved to verify this method. In a fourth problem, the dynamic response of a platform standing freely on the ground is analyzed during a seismic event.

scholarly journals Symmetry analysis of rotating fluid

2005 ◽  
Vol 47 (1) ◽  
pp. 65-74 ◽  
Author(s):  
K. Fakhar ◽  
Zu-Chi Chen ◽  
Xiaoda Ji
Keyword(s):  
Steady State ◽  
Infinite Number ◽  
Special Function ◽  
Equations Of Motion ◽  
Time Dependent ◽  
Lie Theory ◽  
Rotating Fluid ◽  
Type Solution ◽  
Function Type ◽  
Basic Equations

AbstractThe machinery of Lie theory (groups and algebras) is applied to the unsteady equations of motion of rotating fluid. A special-function type solution for the steady state is derived. It is then shown how the solution generates an infinite number of time-dependent solutions via three arbitrary functions of time. This algebraic structure also provides the mechanism to search for other solutions since its character is inferred from the basic equations.

Slow motion of a paraboloid of revolution in a rotating fluid

1958 ◽  
Vol 3 (4) ◽  
pp. 404-410 ◽  
Author(s):  
L. V. K. Viswanadha Sarma
Keyword(s):  
Rigid Body ◽  
Small Amplitude ◽  
Radial Displacement ◽  
Direct Consequence ◽  
Slow Motion ◽  
Uniform Motion ◽  
Rotating Fluid ◽  
Body Rotation ◽  
Axis Of Rotation ◽  
Paraboloid Of Revolution

The slow uniform motion, after an impulsive start from relative rest, of a paraboloid of revolution along the axis of a rotating fluid is investigated by using a perturbation method. The principal purpose of the note is to illustrate the mechanism by which the fluid is not subjected to any substantial radial displacement, which is a direct consequence of the requirement that the circulation round material circuits should be constant when the perturbation velocities due to the motion of the paraboloid remain small. It appears that the mechanism is an oscillatory one in which the distance between any fluid particle and the axis of rotation oscillates sinusoidally in time with small amplitude. As time progresses, the amplitude of the oscillation decays to zero everywhere except on the paraboloid. The ultimate motion is then a rigid body rotation everywhere except on the paraboloid and the axis of rotation, where the perturbation velocities continue to oscillate indefinitely with small amplitude.

A slow motion of viscous liquid caused by the rotation of a solid sphere

Mathematika ◽  
1963 ◽  
Vol 10 (1) ◽  
pp. 13-24 ◽  
Author(s):  
W. R. Dean ◽  
M. E. O'Neill
Keyword(s):  
Viscous Liquid ◽  
Slow Motion ◽  
Solid Sphere
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