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Motion of mechanical systems on solid, resistive surfaces

机械系统在固体、电阻表面上的运动

基本信息

批准号：
263902212
负责人：
Professor Dr.-Ing. Klaus Zimmermann
金额：
--
依托单位：
Russian Foundation for Basic Research
依托单位国家：
德国
项目类别：
Research Grants
财政年份：
2014
资助国家：
德国
起止时间：
2013-12-31 至 2020-12-31
项目状态：
已结题

来源：
https://gepris.dfg.de/gepris/projekt/263902212?language=en
关键词：
Motion mechanical systems solid resistive

项目摘要

The aim of this continuative project is to develop understanding for moving mechanical systems in and on resistive media. The acquired knowledge should be used for model-based design of technical motion systems for selected scenarios. The scientific basis for the design of mobile systems include (1) basic mechanical research of the dynamic behavior and energetic characteristics of systems with changeable configuration and moving internal masses, (2) the investigation of its controllability and, finally, (3) the definition of optimal system parameters for specified moving algorithms.Using analytical methods, we will answer the question whether the motion of a mechanical system with known resistance laws is possible in principle, and if so, what control algorithms for a given configuration can realize this locomotion. The investigations begin always with yes or no statements concerning the locomotion. These statements are based on the investigation of specific, but always generalizable and transferable models in a defined resistive media. Thus, the model-based formulation of necessary and sufficient conditions for locomotion by using analytical methods always reflects concrete mechanical systems. They are inspired by biological models, whereby movement is understood in the meaning of locomotion in context of this application. The research project is methodologically focused on analytical methods because generalized statements in form of necessary and sufficient conditions for locomotion are to be formulated. Only after exhausting the possibilities in the area of analytical procedures largely, numerical simulation tools come into the application focus. Computer-aided methods and numerical dynamic simulations are primarily evaluation tools in combination with experiments in this project. Applications and further developments of prototypes are considered under two aspects: (1) additional constraints for the system (e.g. constant velocity and/or orientation of a selected body of the multibody system) and (2) the possible usage of smart materials.

这个持续项目的目的是发展对在电阻介质内和电阻介质上移动机械系统的理解。所获得的知识应用于基于模型的设计技术运动系统的选择方案。移动系统设计的科学基础包括：(1)对具有可变结构和运动内部质量的系统的动力学行为和能量特性的基本力学研究；(2)对其可控性的研究；(3)确定特定运动算法的最优系统参数。用解析的方法，我们将回答的问题，是否有已知阻力定律的机械系统的运动是原则上可能的，如果是，什么控制算法的给定配置可以实现这种运动。调查总是以“是”或“否”的说法开始。这些陈述是基于对特定电阻介质中特定的，但总是可推广和可转移的模型的研究。因此，用解析方法对运动的充分必要条件进行基于模型的表述，往往反映的是混凝土力学系统。他们受到生物学模型的启发，据此，在本应用程序的背景下，运动被理解为运动的意义。该研究项目在方法论上侧重于分析方法，因为要以运动的必要和充分条件的形式制定广义陈述。只有在用尽了分析方法领域的大量可能性之后，数值模拟工具才成为应用的焦点。本项目以计算机辅助方法和数值动态模拟为主要评估工具，并结合实验。原型的应用和进一步发展是在两个方面考虑的：(1)系统的附加约束（例如，多体系统的选定体的恒定速度和/或方向）和(2)智能材料的可能使用。