backward course; is the deformation of the rod due to slipping of the friction clutch; is the maximum deformation in the first stage. The dynamic motions are similar to equations (4.5), (4.6), and (4.7) (considering the effect of the system of equations creating forces and and momenta and accordance with the control algorithms): The momenta relative to the centers of mass 1 and 2 and the forces F^ in linked systems of coordinates are respectively equal to Twelve equations (4.11), (4.12) and six equations (4.3) form a system to determine 18 unknowns . Overall, along with the six equations (4.9), (4.10), a system of 24 equations is used to find 24 unknowns (including ). When goes to zero the interaction ceases. Further integration of the equations of motion (4.11), (4.12) is done for . We also determine the free (only due to the action of the rod) motion of the rod in equation (4.10) (for ). Equation (4.9) defines parameters and , and when a new interaction begins. Linkage occurs when parameter u goes to zero.
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