Springer Online Journal Archives 1860-2000
Mechanical Engineering, Materials Science, Production Engineering, Mining and Metallurgy, Traffic Engineering, Precision Mechanics
Summary The stability problem of the permanent rotation of a torque-free multibody system with spherical joints is discussed by use of Liapunov's direct method. The system is described by the Hooker-Margulies equations in vector-dyadic form, and there exist the integrals of angular momentum and of energy for the torque-free case. The first integrals obtained are used to establish the Liapunov function, then a stability criterion in analytical form is found for the system composed of two symmetrical bodies coupled by a frictionless joint. It is proven that the permanent rotation of such a system about the coincident axis of symmetry is always stable.
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