Lie symmetry of Maggi equations is studied. Its determining equation and restriction equation of nonholonomic constraint are given. A Hojman conserved quantity can be deduced directly by using the Lie symmetry. An exa...Lie symmetry of Maggi equations is studied. Its determining equation and restriction equation of nonholonomic constraint are given. A Hojman conserved quantity can be deduced directly by using the Lie symmetry. An example is given to illustrate the application of the result.展开更多
As a concrete application of the concepts of 'derivative space' and'correspondent kinetic energy' in derivative space, and of foe thought of 'treatingnonholonomic systems by changing them into form...As a concrete application of the concepts of 'derivative space' and'correspondent kinetic energy' in derivative space, and of foe thought of 'treatingnonholonomic systems by changing them into formal holonomic system' which theauthors have previously proposed in references [1. 2, 3]. this paper derived another newuniversal D'Alembert principle and a new Maggi equation for arbitrary ordernonholonomic mechanical systems. An example using the Maggi equation is given.展开更多
A new passive wheel type of biped ice-skater robot (BISR) subjected to nonholonomic constraints was presented on the basis of ice-skating principle. Its motion principle and construction were discussed. After the mode...A new passive wheel type of biped ice-skater robot (BISR) subjected to nonholonomic constraints was presented on the basis of ice-skating principle. Its motion principle and construction were discussed. After the model was simplified and the coordinate systems were established, the motion differential equations of the robot were obtained with the generalized Lagrange-Maggi equation when the nonholonomic constraints existed. Actual examples were given and the result was simulated on computer.展开更多
基金Sponsored by the National Natural Science Foundation of China(10572021)
文摘Lie symmetry of Maggi equations is studied. Its determining equation and restriction equation of nonholonomic constraint are given. A Hojman conserved quantity can be deduced directly by using the Lie symmetry. An example is given to illustrate the application of the result.
文摘As a concrete application of the concepts of 'derivative space' and'correspondent kinetic energy' in derivative space, and of foe thought of 'treatingnonholonomic systems by changing them into formal holonomic system' which theauthors have previously proposed in references [1. 2, 3]. this paper derived another newuniversal D'Alembert principle and a new Maggi equation for arbitrary ordernonholonomic mechanical systems. An example using the Maggi equation is given.
文摘A new passive wheel type of biped ice-skater robot (BISR) subjected to nonholonomic constraints was presented on the basis of ice-skating principle. Its motion principle and construction were discussed. After the model was simplified and the coordinate systems were established, the motion differential equations of the robot were obtained with the generalized Lagrange-Maggi equation when the nonholonomic constraints existed. Actual examples were given and the result was simulated on computer.
