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  • 1
    Digitale Medien
    Digitale Medien
    Springer
    Archive of applied mechanics 69 (1999), S. 429-442 
    ISSN: 1432-0681
    Schlagwort(e): Key words statics ; two-member linkage ; Coulomb friction ; robotics
    Quelle: Springer Online Journal Archives 1860-2000
    Thema: Maschinenbau
    Notizen: Summary The static interaction of a two-member linkage with a given surface is investigated. Dry friction acts at the point of contact of the linkage with the surface. The linkage has two drives generating torques at its joints. The optimal distribution of the joint torques is determined to maximize the friction force at the point of contact. The dependence of this maximal force on the lengths of the links and on the linkage configuration is investigated. The results obtained can be applied to the analysis and optimization of various robotic systems, in particular, manipulators interacting with rough surfaces and walking machines, especially tube-crawling robots.
    Materialart: Digitale Medien
    Standort Signatur Erwartet Verfügbarkeit
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  • 2
    Digitale Medien
    Digitale Medien
    Springer
    Archive of applied mechanics 69 (1999), S. 503-527 
    ISSN: 1432-0681
    Schlagwort(e): Key words Unilateral contact ; multibody dynamics ; complementarity ; friction ; impact
    Quelle: Springer Online Journal Archives 1860-2000
    Thema: Maschinenbau
    Notizen: Summary Contact processes may be described by local discretizations, by rigid representation or by mixed methods incorporating both ideas. A rigid body approach is proposed for the dynamics of mechanical systems, achieving good results also for multiple-contact problems. Contacts in multibody systems are mainly considered, with the corresponding contact constraints varying with time, thus generating structure-variant systems. The equations of motion for dynamical systems with such unilateral behavior are discussed, solution methods and applications are presented.
    Materialart: Digitale Medien
    Standort Signatur Erwartet Verfügbarkeit
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  • 3
    Digitale Medien
    Digitale Medien
    Springer
    Archive of applied mechanics 69 (1999), S. 265-285 
    ISSN: 1432-0681
    Schlagwort(e): Key words Multibody system ; contact ; unilateral constraint ; Coulomb friction ; stick-slip ; variational inequality.
    Quelle: Springer Online Journal Archives 1860-2000
    Thema: Maschinenbau
    Notizen: Summary Couplings in machines and mechanisms exhibiting backlash and friction phenomena can be modeled as multibody systems with unilateral constraints and Coulomb friction. The structure of the differential-algebraic equations describing the system depends on the state of the constraints. The contact forces occurring at active constraints are taken into account in the equations of motion as Lagrange multipliers. Additionally, the kinematic conditions of all active constraints are formulated on the acceleration level. Contact and friction laws are sufficient conditions for state transitions of active constraints, and are represented by nonsmooth characteristics. Several formulations, like the linear complementarity problem, and two different nonlinear systems of equations are presented together with their solution method. The theory is applied to a mechanical system containing three-dimensional and coupled unilateral constraints with friction.
    Materialart: Digitale Medien
    Standort Signatur Erwartet Verfügbarkeit
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  • 4
    Digitale Medien
    Digitale Medien
    Springer
    Archive of applied mechanics 65 (1995), S. 390-400 
    ISSN: 1432-0681
    Schlagwort(e): virtual work ; electromechanical systems ; unifying modelling ; constraints ; mechatronics
    Quelle: Springer Online Journal Archives 1860-2000
    Thema: Maschinenbau
    Notizen: Summary The principle of virtual work is applied to electromechanical systems as the foundation of a unifying concept for modelling mechatronical systems. After the presentation of an important result in the field of mechanics, the expansion of the principle on electrical networks and electromechanical systems is shown. The use of the principle of virtual work in the domain of electromechanics yields an analogous form to the central equation of mechanics which is valid for holonomic and nonholonomic systems. The electrotechnical part of the system is confined to networks. The derivation of the mathematical model is demonstrated on the example of a simple electromechanical oscillation circuit. In addition, the physical systems are separately treated, taking into account the explicit constraints on the basis of the Lagrangian multiplier method.
    Materialart: Digitale Medien
    Standort Signatur Erwartet Verfügbarkeit
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  • 5
    Digitale Medien
    Digitale Medien
    Springer
    Algorithmica 13 (1995), S. 266-282 
    ISSN: 1432-0541
    Schlagwort(e): Graph minors ; NP-completeness ; Planar graphs ; Matching problems ; Treewidth
    Quelle: Springer Online Journal Archives 1860-2000
    Thema: Informatik , Mathematik
    Notizen: Abstract The computational complexity of a number of problems concerning induced structures in graphs is studied, and compared with the complexity of corresponding problems concerning non-induced structures. The effect on these problems of restricting the input to planar graphs is also considered. The principal results include: (1) Induced Maximum Matching and Induced Directed Path are NP-complete for planar graphs, (2) for every fixed graphH, InducedH-Minor Testing can be accomplished for planar graphs in time0(n), and (3) there are graphsH for which InducedH-Minor Testing is NP-complete for unrestricted input. Some useful structural theorems concerning induced minors are presented, including a bound on the treewidth of planar graphs that exclude a planar induced minor.
    Materialart: Digitale Medien
    Standort Signatur Erwartet Verfügbarkeit
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  • 6
    Digitale Medien
    Digitale Medien
    Springer
    Archive of applied mechanics 56 (1986), S. 25-37 
    ISSN: 1432-0681
    Quelle: Springer Online Journal Archives 1860-2000
    Thema: Maschinenbau
    Beschreibung / Inhaltsverzeichnis: Summary In gearboxes of motor vehicles all components not being shifted to transmit torque may be excited to perform clattering vibrations. This type of oscillations can be resolved in a more or less stochastic sequence of impacts taking place at the edges of the gear or bearing tolerances. The energy for this impulsive process comes from motor-engine vibrations in connection with a nonlinear behaviour of the clutch. Based on an impulsive theory for multibody systems a method is presented to analyse these clattering vibrations. For optimizing the essential parameters of the system, i.e. excitation form, tolerances, damping, friction, a simulation program is developed. Clattering noise is assumed to be proportional to the energy losses due to impacts at the edges of the plays. Results compare well with practical experiences.
    Notizen: Übersicht In Schaltgetrieben für Kraftfahrzeuge führen in allen Gängen diejenigen Schalträder und im Leerlauf oder im direkten Gang auch die Vorgelegewelle innerhalb ihrer Spiele Rasselschwingungen aus, die an der Momentenübertragung nicht beteiligt sind und damit wegen fehlender Verspannung klappern können. Als Erregung für diese durch Stöße verursachten Rasselschwingungen wirkt im wesentlichen die Drehungleichförmigkeit des Antriebsritzels und damit letztlich die zeitliche Schwankung des Motormoments in Verbindung mit der nichtlinearen Kupplungskennlinie. In der vorliegenden Arbeit wird, ausgehend von einer Theorie mechanischer Systeme mit unstetigen Übergängen, ein Verfahren zur praxisnahen Berechnung dieser Rasselschwingungen vorgestellt. In einem Simulationsprogramm lassen Variationen der wesentlichen Parameter, wie etwa der Erregercharakteristik, der Zahn- und Lagerspiele, der Zahn- und Lagerdämpfung sowie der Schleppmomente, Rückschlüsse auf optimale Parameterkombinationen zu. Die leicht zu ermittelnden Energieverluste bei Stößen liefern einen groben Anhaltspunkt für die Rasselgeräusche. Das gewählte Modell entspricht den beobachteten physikalischen Phänomenen.
    Materialart: Digitale Medien
    Standort Signatur Erwartet Verfügbarkeit
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  • 7
    Digitale Medien
    Digitale Medien
    Springer
    Archive of applied mechanics 58 (1988), S. 113-125 
    ISSN: 1432-0681
    Quelle: Springer Online Journal Archives 1860-2000
    Thema: Maschinenbau
    Beschreibung / Inhaltsverzeichnis: Summary Clattering vibrations in gear-boxes may be described as a sequence of impulsive processes [3, 5]. The motion between two impacts during teeth-meshing can be represented analytically. This leads to discrete and invertible mappings for the motion in phase-space. As a result one gets strange attractors or periodical behaviour according to the set of parameters under consideration. Transitions from periodic to chaotic states (and vice versa) are indicated by Ljapunov's exponents. Some parameter influences become visible by applying estimates of the phasespace boundaries. The examples of a one-stage and a two-stage gearing show advantages of the method as compared to usual numerical simulations.
    Notizen: Übersicht Rassel- und Klapperschwingungen in Zahnradgetrieben lassen sich als Folgen von Stoßprozessen beschreiben [3, 5]. Dabei kann man die Bewegung von einem Stoß zum nächsten im allgemeinen analytisch darstellen. Dies ermöglicht die Herleitung diskreter und invertierbarer Abbildungsfunktionen und damit eine Darstellung der Bewegung im Phasenraum als eine Art Poincaré-Abbildung. Als Ergebnis erhält man je nach Parametersituation seltsame Attraktoren oder Fixpunkte, die sich verzweigen. Die Übergänge von periodischen zu chaotischen Zuständen und umgekehrt werden vom Verlauf der Ljapunov-Exponenten angezeigt, strukturelle Aussagen werden mit Hilfe von Abschätzungen der Phasenraumgrenzen möglich. Die Anwendungsbeispiele des einstufigen und zweistufigen Stirnradgetriebes zeigen die Vorteile des Verfahrens, insbesondere gegenüber gewöhnlichen numerischen Simulationen.
    Materialart: Digitale Medien
    Standort Signatur Erwartet Verfügbarkeit
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  • 8
    ISSN: 1573-5028
    Schlagwort(e): mRNA regulation ; phytochrome ; ribulose-1,5-bisphosphate carboxylase ; rye ; transcription
    Quelle: Springer Online Journal Archives 1860-2000
    Thema: Biologie
    Notizen: Abstract The effect of red light and far-red light on the appearance of mRNA for the small and large subunit of ribulose-1,5-bisphosphate carboxylase in rye seedlings has been analysed. Irradiation of etiolated seedlings with a pulse of red light increased the mRNA level of the small subunit by a factor of 7–10 and that of the large subunit by a factor of 3. A pulse of far-red light resulted in a much lower, but measurable increase. The effect of red light is reverted by an immediate far-red pulse, demonstrating the classical phytochrome response.In vitro transcription experiments with nuclei isolated from red light-treated seedlings showed that the transcription rate of the small subunit mRNA was increased only by a factor of 1.5–2.5, indicating posttranscriptional as wells as transcriptional regulations of the small subunit of ribulose-1,5-bisphosphate carboxylase.
    Materialart: Digitale Medien
    Standort Signatur Erwartet Verfügbarkeit
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  • 9
    Digitale Medien
    Digitale Medien
    Springer
    Nonlinear dynamics 7 (1995), S. 471-497 
    ISSN: 1573-269X
    Schlagwort(e): Impacts with friction ; multibody systems ; unilateral constraints ; complementarity problems
    Quelle: Springer Online Journal Archives 1860-2000
    Thema: Mathematik
    Notizen: Abstract An impact model for two-dimensional contact situations is developed which contains the main physical effects of a compliance element in the normal direction and a series of a compliance and Coulomb friction elements in the tangential direction. For systems with multiple impacts a unilateral formulation based on Poisson's hypothesis is used to describe the impulses which are transferred in the normal direction. The event of an impact is divided into two phases. The phase of compression ends with vanishing approaching velocity if normal impulses are transferred and is equivalent to a completely inelastic collision. The phase of expansion allows the bodies to separate under the action of the normal impulses whenever they are large enough. The absolute values of the tangential impulses are bounded by the magnitudes of the normal impulses, due to the Coulomb friction relationship on the impulse level. One part of the transferred tangential impulse during compression is assumed to be partly reversible which may be regarded as an application of Poisson's law. The remaining part is completely irreversible and considered friction. This formulation contains the special case of completely elastic tangential impacts as well as the situation when only Coulomb friction acts. It is proven that the presented impact model is always dissipative or energy preserving. The evaluation of the problem is done by solving one set of complementarity conditions during compression and a nearly identical set of equations during expansion. The theory is applied to some basic examples which demonstrate the difference between Newton's and Poisson's hypotheses.
    Materialart: Digitale Medien
    Standort Signatur Erwartet Verfügbarkeit
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  • 10
    Publikationsdatum: 1988-01-01
    Print ISSN: 0020-1154
    Thema: Maschinenbau
    Publiziert von Springer
    Standort Signatur Erwartet Verfügbarkeit
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