Original scientific paper

A new form of equations for rigid body rotational dynamics

Alexey A. Tikhonov ; Saint-Petersburg State University, 7-9, Universitetskaya nab., 199034 Saint-Petersburg, Russia
Cemal Dolicanin ; State University of Novi Pazar, Vuka Karadzica bb, 36300 Novi Pazar, Serbia
Todor A. Partalin ; Sofia University "St. Kliment Ohridski", 15 Tsar Osvoboditel Blvd., 1504 Sofia, Bulgaria
Ivan Arandjelovic ; Faculty of Mechanical Engineering, Kraljice Marije 77, 11000 Belgrade, Serbia

Abstract

In the paper, a new form of differential equations for rigid body attitude dynamics is obtained. Three s-parameters (modified Rodrigues-Hamilton parameters) and three angular velocity parameters are used as unknown variables. Built equations are particularly useful for analytical and numerical study of rotational motion of a rigid body. The topological structure of configurational s-manifold for a balanced rigid body is investigated. An example of the use of constructed equations to describe the rotational motion of a rigid body in a resisting medium is considered.

Keywords

dynamics; modified Rodriguez-Hamilton parameters; rigid body; rotational motion

Hrčak ID:

131210

URI

https://hrcak.srce.hr/131210

Publication date:

21.12.2014.

Article data in other languages: croatian

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