Abstract
Super-articulated mechanisms with symmetries are studied. It is shown that averaging may be applied to capture nonholonomic effects produced by subjecting the systems of interest to high-frequency periodic forcing. Using a Hamiltonian representation for the forced system, it is shown that the result of averaging is another Hamiltonian system having a certain Hermitian structure. Because the averaged systems are Hamiltonian, conserved quantities may be used to describe the qualitative dynamics.
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© 1991 Birkhäuser Boston
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Baillieul, J. (1991). The Behavior of Super-Articulated Mechanisms Subject to Periodic Forcing. In: Bonnard, B., Bride, B., Gauthier, JP., Kupka, I. (eds) Analysis of Controlled Dynamical Systems. Progress in Systems and Control Theory, vol 8. Birkhäuser Boston. https://doi.org/10.1007/978-1-4612-3214-8_4
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DOI: https://doi.org/10.1007/978-1-4612-3214-8_4
Publisher Name: Birkhäuser Boston
Print ISBN: 978-1-4612-7835-1
Online ISBN: 978-1-4612-3214-8
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