Abstract

This work determines the restoring forces of the elastic elements of a system with two degrees of freedom by its predetermined movement. Two bodies of a certain mass are considered. The first body is connected by the first elastic element with a fixed base; and the second body is connected with the first body by the second elastic element. The movement occurs in a straight line in a horizontal plane. Gravity and friction forces are not taken into account. Then, the trigonometric functions of the law of motion of each body and the restoring forces of both elastic elements are analytically determined. These restoring forces are the control functions by which the desired movement is realized. Technically, such controls can be implemented in various ways, in particular, through passive elastic elements, the design and calculation method of which is proposed in the article. A variant of creating elastic elements with the restoring forces based on springs moving between two guides of the calculated form perpendicular to their axis of symmetry is given.

中文翻译：

---

借助势力控制具有两个自由度的系统

摘要

这项工作通过系统的预定运动确定两个自由度的系统弹性元件的恢复力。考虑一定质量的两个物体。第一主体通过第一弹性元件与固定的基座连接。第二主体通过第二弹性元件与第一主体连接。运动发生在水平面中的直线上。没有考虑重力和摩擦力。然后，解析地确定每个物体的运动定律的三角函数和两个弹性元件的恢复力。这些恢复力是实现所需运动的控制功能。从技术上讲，此类控制可通过多种方式实施，特别是通过被动弹性元件实现，本文提出了其设计和计算方法。给出了一种变型，该变型是基于弹簧的，具有恢复力的弹性元件，该弹簧在所计算形状的两个导轨之间垂直于其对称轴移动。