New Formulations on Kinetic Energy and Acceleration Energies in Applied Mechanics of Systems

Abstract

Multibody mechanical systems (i.e., serial, and parallel robots) have a wide range of applications in the industrial field. In technological processes, these systems perform mechanical movements, in which the active forces have a certain time variation law and, hence, induce higher-order accelerations in the mechanical system, which become central functions in acceleration energies. The advanced dynamics study of multibody systems, often characterized by symmetry, is conducted by applying the differential and variational principles. Lagrange–Euler equations and their time derivatives are commonly used. Here, the central function is the kinetic energy and its higher-order time derivatives. Additionally, the generalization of Gibbs–Appell equations, where the central function is represented by the first and higher-order acceleration energy, can be applied. This paper aims to establish a relation between the kinetic energy and acceleration energy for different material systems. This purpose is achieved by applying the absolute second-order time derivative on the expressions of kinetic energy, corresponding to different material systems. Following this differential calculation and by applying some constraints, the relationship between kinetic energy and acceleration energy is obtained. For validating the relation between kinetic energy and acceleration energy of the first, second and third order, an application is presented.