No label defined (Q4520946)

The system of two heavy Lagrange's gyroscopes joined by an elastic universal hinge in the point of intersection of their axes of symmetry is considered. One point of the first body is fixed. The second body has the point which is moving along the immovable axis, it means that the system is under the constraint acting. The motion equations for this conservative system and the integrals of energy and the angular momentum of the system relatively to the vertical vector are carried out. The system admits the solution corresponding to permanent rotation of it as a whole one around the vertical. For this system with three degrees of freedom a criterion is suggested analogous to Mayevskiy's criterion of stability of permanent rotations of a rigid body with a fixed point. It is pointed out that the necessary conditions of stability of the bodies system formed in the half-closed chain are satisfied for the velocities values less than for one rigid body which comes out from the given system when the hinge is substituted by an inflexible clamp. By Chetaev's method of construction of Lyapunov function in the form of the bundle of integrals of the perturbed motion equations the sufficient conditions of stability of permanent rotations of this system are established and analysed.