Separation of gyroscopic inertial forces from centrifugal and coriolis inertial forces

The purpose of the study is to identify in the equations of dynamics of mechanical systems generalized gyroscopic inertial forces, consisting of a part of centrifugal and Coriolis inertial forces, indicating the bodies whose movements form these forces. The methods of research refer to mechanics of body systems, systems analysis and robotics. The results of the study allow us to write out general formulas for calculating generalized centrifugal, Coriolis and gyroscopic inertial forces through partial derivatives on generalized coordinates from elements of the matrix of inertial coefficients in the expression of kinetic energy of arbitrary mechanical system. In the process of analyzing these formulas for systems of bodies with an open tree structure, such as orbital stations with manipulators on board or walking vehicles in the single-supported walking phase, the bodies whose movements affect the occurrence of the listed inertial forces are highlighted. For robot manipulation systems we present examples of the equations of dynamics, in which all possible inertial forces are highlighted and the bodies that form them are indicated.