Extension of the Bernoulli's case of brachistochronic motion to the multibody system having the form of a kinematic chain with external constraints
✍ Scribed by Vukman Čović; Miroslav Vesković
- Publisher
- Elsevier Science
- Year
- 2002
- Tongue
- English
- Weight
- 97 KB
- Volume
- 21
- Category
- Article
- ISSN
- 0997-7538
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✦ Synopsis
The system of rigid bodies forming a kinematic chain subject to the external constraints is considered. The conditions imposed on the form of external constraints, under which the system considered moves in a homogeneous field of gravity from the given initial position to the given final positon so that time of the motion takes its minimal value, are found.
A complete analogy of such a motion of the system with the familiar Bernoulli's case of a brachistochronic motion of a particle in a homogeneous field of gravity is established. Results of the paper are illustrated by an example. 2002 Éditions scientifiques et médicales Elsevier SAS. All rights reserved.