On the Controllability Properties of Hinged Closed Mechanisms

摘要

The mechanisms obtained from pendulum systems with a single pivot point by adding a holonomic restraint connecting the kinematic chain to the second pivot point have been considered. The features of the configuration space that affect the dynamics of such objects have been discussed. Sufficient conditions for global controllability in the entire phase space have been formulated and an example of a mechanism (with configurations on a sphere with two handles) that is globally controlled under the action of a single limited control force has been given.