Dynamics of free and controlled rigid body motions in the two-state suspension

Abstract

The article discusses the dynamic behavior of a rigid body fixed in the gimbal suspension. Such system can be interpreted as two-degree manipulator and used as an element of more complex robotic structures (for example, when combining locomotion-manipulative movements). The analysis of free body motions due to inertia is carried out. As a result, main dimensionless parameters of the problem are defined and qualitative nature of the motions for cyclic and positional coordinates is found, and a phase portrait is also built. In addition, two modes of controlled motion of a solid body are studied, which correspond to different goals. It is shown that collinear control mode simulating inertia forces is accelerating or braking, while orthogonal control mode simulating gyroscopic forces does not change the total mechanical energy of the system. By comparing phase portraits of free motion mode and orthogonal control mode, we can conclude that the latter case has a more complex structure, possessing a number of qualitative features which are clearly demonstrated.