Related papers: The rigid body dynamics: classical and algebro-geo…
A class of elliptic curves with associated Lax matrices is considered. A family of dynamical systems on e(3) parametrized by polynomial a with above Lax matrices are constructed. Five cases from the family are selected by the condition of…
This is an expository presentation of a completely integrable Hamiltonian system of Clebsch top under a special condition introduced by Weber. After a brief account on the geometric setting of the system, the structure of the Poisson…
In this paper the exact analytical solution of the motion of a rigid body with arbitrary mass distribution is derived in the absence of forces or torques. The resulting expressions are cast into a form where the dependence of the motion on…
We compare three approaches to posing the index 3 set of differential algebraic equations (DAEs) associated with the constrained multibody dynamics problem formulated in absolute coordinates. The first approach works directly with the…
In this paper we analyze the normal forms of a general quadratic Hamiltonian system defined on the dual of the Lie algebra $\mathfrak{o}(K)$ of real $K$ - skew - symmetric matrices, where $K$ is an arbitrary $3\times 3$ real symmetric…
Arnold pointed out that the Euler equation of incompressible ideal hydrodynamics describes geodesics on the group of volume-preserving diffeomorphisms. A simple analogue is the Euler equation for a rigid body, which is the geodesic equation…
We derive the dynamics of several rigid bodies of arbitrary shape in a 2-dimensional inviscid and incompressible fluid, whose vorticity field is given by point vortices. We adopt the idea of Vankerschaver et al. (2009) to derive the…
The paper presents some results of qualitative analysis of Kirchhoff's differential equations describing motion of a rigid body in ideal fluid in Sokolov's case. The research methods are based on Lyapunov's classical results. Methods of…
Due to Poinsot's theorem, the motion of a rigid body about a fixed point is represented as rolling without slipping of the moving hodograph of the angular velocity over the fixed one. If the moving hodograph is a closed curve, visualization…
The motion of a rigid body in a quadratic potential is an important example of an integrable Hamiltonian system on a dual to a semidirect product Lie algebra so(n) x Symm(n). We give a Lagrangian derivation of the corresponding equations of…
The three-body general problem is formulated as a problem of geodesic trajectories flows on the Riemannian manifold. It is proved that a curved space with local coordinate system allows to detect new hidden symmetries of the internal motion…
This paper proposes a unified approach for dynamic modeling and simulations of general tensegrity structures with rigid bars and rigid bodies of arbitrary shapes. The natural coordinates are adopted as a non-minimal description in terms of…
This paper formulates optimal control problems for rigid bodies in a geometric manner and it presents computational procedures based on this geometric formulation for numerically solving these optimal control problems. The dynamics of each…
Despite the huge number of research into the three-body problem in physics and mathematics, the study of this problem still remains relevant both from the point of view of its broad application and taking into account its fundamental…
This work introduces a port-Hamiltonian (PH) model for constrained mechanical systems, which is directly derived from the Lagrangian equations of motion. The present PH framework incorporates a singularity-free director representation of…
We study the most general form of a three dimensional classical integrable system with axial symmetry and invariant under the axis reflection. We assume that the three constants of motion are the Hamiltonian, $H$, with the standard form of…
In his fondamental "Essay on the 3-body problem", Lagrange, well before Jacobi's "reduction of the node", carries out the first complete reduction of symetries. Discovering the so-called homographic motions, he shows that they necessarily…
Rigid bodies, plastic impact, persistent contact, Coulomb friction, and massless limbs are ubiquitous simplifications introduced to reduce the complexity of mechanics models despite the obvious physical inaccuracies that each incurs…
Motivated by the design of deterministic lateral displacement (DLD) microfluidic devices, we develop a high-order numerical framework for fluid-rigid-body interaction on fitted moving meshes. Rigid-body motion is enforced by a distributed…
This work presents an elegant formalism to model the evolution of the full two rigid body problem. The equations of motion, given in a Cartesian coordinate system, are expressed in terms of spherical harmonics and Wigner D-matrices. The…