Due to the importance of vibration effects on the functional accuracy of mechanical systems,this research aims to develop a precise model of a nonlinearly vibrating single-link mobile flexible manipulator.The manipula...Due to the importance of vibration effects on the functional accuracy of mechanical systems,this research aims to develop a precise model of a nonlinearly vibrating single-link mobile flexible manipulator.The manipulator consists of an elastic arm,a rotary motor,and a rigid carrier,and undergoes general in-plane rigid body motion along with elastic transverse deformation.To accurately model the elastic behavior,Timoshenko’s beam theory is used to describe the flexible arm,which accounts for rotary inertia and shear deformation effects.By applying Newton’s second law,the nonlinear governing equations of motion for the manipulator are derived as a coupled system of ordinary differential equations(ODEs)and partial differential equations(PDEs).Then,the assumed mode method(AMM)is used to solve this nonlinear system of governing equations with appropriate shape functions.The assumed modes can be obtained after solving the characteristic equation of a Timoshenko beam with clamped boundary conditions at one end and an attached mass/inertia at the other.In addition,the effect of the transverse vibration of the inextensible arm on its axial behavior is investigated.Despite the axial rigidity,the effect makes the rigid body dynamics invalid for the axial behavior of the arm.Finally,numerical simulations are conducted to evaluate the performance of the developed model,and the results are compared with those obtained by the finite element approach.The comparison confirms the validity of the proposed dynamic model for the system.According to the mentioned features,this model can be reliable for investigating the system’s vibrational behavior and implementing vibration control algorithms.展开更多
Due to the increasing use of passive absorbers to control unwanted vibrations,many studies have been done on energy absorbers ideally,but the lack of studies of real environmental conditions on these absorbers is felt...Due to the increasing use of passive absorbers to control unwanted vibrations,many studies have been done on energy absorbers ideally,but the lack of studies of real environmental conditions on these absorbers is felt.The present work investigates the effect of viscoelasticity on the stability and bifurcations of a system attached to a nonlinear energy sink(NES).In this paper,the Burgers model is assumed for the viscoelasticity in an NES,and a linear oscillator system is considered for investigating the instabilities and bifurcations.The equations of motion of the coupled system are solved by using the harmonic balance and pseudo-arc-length continuation methods.The results show that the viscoelasticity affects the frequency intervals of the Hopf and saddle-node branches,and by increasing the stiffness parameters of the viscoelasticity,the conditions of these branches occur in larger ranges of the external force amplitudes,and also reduce the frequency range of the branches.In addition,increasing the viscoelastic damping parameter has the potential to completely eliminate the instability of the system and gradually reduce the amplitude of the jump phenomenon.展开更多
文摘Due to the importance of vibration effects on the functional accuracy of mechanical systems,this research aims to develop a precise model of a nonlinearly vibrating single-link mobile flexible manipulator.The manipulator consists of an elastic arm,a rotary motor,and a rigid carrier,and undergoes general in-plane rigid body motion along with elastic transverse deformation.To accurately model the elastic behavior,Timoshenko’s beam theory is used to describe the flexible arm,which accounts for rotary inertia and shear deformation effects.By applying Newton’s second law,the nonlinear governing equations of motion for the manipulator are derived as a coupled system of ordinary differential equations(ODEs)and partial differential equations(PDEs).Then,the assumed mode method(AMM)is used to solve this nonlinear system of governing equations with appropriate shape functions.The assumed modes can be obtained after solving the characteristic equation of a Timoshenko beam with clamped boundary conditions at one end and an attached mass/inertia at the other.In addition,the effect of the transverse vibration of the inextensible arm on its axial behavior is investigated.Despite the axial rigidity,the effect makes the rigid body dynamics invalid for the axial behavior of the arm.Finally,numerical simulations are conducted to evaluate the performance of the developed model,and the results are compared with those obtained by the finite element approach.The comparison confirms the validity of the proposed dynamic model for the system.According to the mentioned features,this model can be reliable for investigating the system’s vibrational behavior and implementing vibration control algorithms.
基金financial support from K.N.Toosi University of Technology,Tehran,Iran。
文摘Due to the increasing use of passive absorbers to control unwanted vibrations,many studies have been done on energy absorbers ideally,but the lack of studies of real environmental conditions on these absorbers is felt.The present work investigates the effect of viscoelasticity on the stability and bifurcations of a system attached to a nonlinear energy sink(NES).In this paper,the Burgers model is assumed for the viscoelasticity in an NES,and a linear oscillator system is considered for investigating the instabilities and bifurcations.The equations of motion of the coupled system are solved by using the harmonic balance and pseudo-arc-length continuation methods.The results show that the viscoelasticity affects the frequency intervals of the Hopf and saddle-node branches,and by increasing the stiffness parameters of the viscoelasticity,the conditions of these branches occur in larger ranges of the external force amplitudes,and also reduce the frequency range of the branches.In addition,increasing the viscoelastic damping parameter has the potential to completely eliminate the instability of the system and gradually reduce the amplitude of the jump phenomenon.
