The dynamic analysis of a one-DOF RSRRR spatial linkage mechanism, including four rotational joints R and one spherical joint S, is presented in the paper. It is assumed that friction occurs in the rotational joints, ...The dynamic analysis of a one-DOF RSRRR spatial linkage mechanism, including four rotational joints R and one spherical joint S, is presented in the paper. It is assumed that friction occurs in the rotational joints, whereas a spherical joint can be treated as an ideal one. The mechanism in the form of a closed-loop kinematic chain was divided by cut joint technique into two open-loop kinematic chains in place of the spherical joint. Joint coordinates and homogeneous transformation matrices were used to describe the geometry of the system. Equations of the chains＇ motion were derived using formalism of Lagrange equations. Cut joint constraints and reaction forces, acting in the cutting place---i.e, in the spherical joint, have been introduced to complete the equations of motion. As a consequence, a set of differential-algebraic equations has been obtained. In order to solve these equations, a procedure based on differentiation twice of the formulated constraint equations with respect to time has been applied. In order to determine values of friction torques in the rotational joints in each integrating step of the equations of motion, joint forces and torques were calculated using the recursive Newton-Euler algorithm taken from robotics. For the requirements of the method, a model of a rotational joint has been developed. Some examples of results of the numerical calculations made have been presented in the conclusions of the paper.展开更多
Using Nevanlinna theory and value distribution of meromorphic functions and the other techniques,we investigate the counting functions of meromorphic solutions of systems of higher-order algebraic differential equatio...Using Nevanlinna theory and value distribution of meromorphic functions and the other techniques,we investigate the counting functions of meromorphic solutions of systems of higher-order algebraic differential equations and obtain some results.展开更多
In this paper, the classical Lie group approach is extended to find some Lie point symmetries of differentialdifference equations. It reveals that the obtained Lie point symmetries can constitute a Kac-Moody-Virasoro ...In this paper, the classical Lie group approach is extended to find some Lie point symmetries of differentialdifference equations. It reveals that the obtained Lie point symmetries can constitute a Kac-Moody-Virasoro algebra.展开更多
文摘The dynamic analysis of a one-DOF RSRRR spatial linkage mechanism, including four rotational joints R and one spherical joint S, is presented in the paper. It is assumed that friction occurs in the rotational joints, whereas a spherical joint can be treated as an ideal one. The mechanism in the form of a closed-loop kinematic chain was divided by cut joint technique into two open-loop kinematic chains in place of the spherical joint. Joint coordinates and homogeneous transformation matrices were used to describe the geometry of the system. Equations of the chains＇ motion were derived using formalism of Lagrange equations. Cut joint constraints and reaction forces, acting in the cutting place---i.e, in the spherical joint, have been introduced to complete the equations of motion. As a consequence, a set of differential-algebraic equations has been obtained. In order to solve these equations, a procedure based on differentiation twice of the formulated constraint equations with respect to time has been applied. In order to determine values of friction torques in the rotational joints in each integrating step of the equations of motion, joint forces and torques were calculated using the recursive Newton-Euler algorithm taken from robotics. For the requirements of the method, a model of a rotational joint has been developed. Some examples of results of the numerical calculations made have been presented in the conclusions of the paper.
基金Supported by the National Natural Science Foundation of China（10471065） Supported by the Natural Science Foundation of Guangdong Province（04010474）
文摘Using Nevanlinna theory and value distribution of meromorphic functions and the other techniques,we investigate the counting functions of meromorphic solutions of systems of higher-order algebraic differential equations and obtain some results.
文摘In this paper, the classical Lie group approach is extended to find some Lie point symmetries of differentialdifference equations. It reveals that the obtained Lie point symmetries can constitute a Kac-Moody-Virasoro algebra.
