Motion of mechanical systems on solid, resistive surfaces

这个连续项目的目的是发展对电阻介质中和电阻介质上的移动机械系统的理解。所获得的知识应用于选定场景的技术运动系统的基于模型的设计。设计移动的系统的科学基础包括：（1）对具有可变结构和移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，以及最后（3）为指定的移动算法定义最佳系统参数。使用分析方法，我们将回答这样一个问题，即在已知阻力定律的情况下，机械系统的运动在原理上是否可能，如果可能的话，对于给定的配置，什么样的控制算法可以实现这种运动。调查开始总是以“是”或“不是”的陈述开始。这些声明是基于特定的调查，但总是概括和转让的模型在一个定义的电阻介质。因此，基于模型的公式化的必要和充分条件的运动，通过使用分析方法总是反映具体的力学系统。它们受到生物模型的启发，其中运动在本申请的上下文中被理解为运动的含义。该研究项目在方法论上侧重于分析方法，因为运动的必要和充分条件的形式的广义陈述是制定。只有在穷尽了大量分析方法的可能性之后，数值模拟工具才成为应用的焦点。计算机辅助方法和数值动态模拟是本项目结合实验的主要评估工具。原型的应用和进一步发展被认为是在两个方面：（1）系统的附加约束（例如，恒定的速度和/或多体系统的选定机构的取向）和（2）智能材料的可能使用。

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.