A Wave-Based Analytical Solution to Free Vibrations in a Combined Euler–Bernoulli Beam/Frame and a Two-Degree-of-Freedom Spring–Mass System

2018 ◽  
Vol 140 (6) ◽  
Author(s):  
C. Mei
Keyword(s):  
Analytical Solution ◽  
Coupling Effect ◽  
Free Vibrations ◽  
Degree Of Freedom ◽  
Transverse Motion ◽  
Bernoulli Beam ◽  
Combined System ◽  
Mass System ◽  
Euler Bernoulli Beam ◽  
Two Degree Of Freedom

In this paper, natural frequencies and modeshapes of a transversely vibrating Euler–Bernoulli beam carrying a discrete two-degree-of-freedom (2DOF) spring–mass system are obtained from a wave vibration point of view in which vibrations are described as waves that propagate along uniform structural elements and are reflected and transmitted at structural discontinuities. From the wave vibration standpoint, external forces applied to a structure have the effect of injecting vibration waves to the structure. In the combined beam and 2DOF spring–mass system, the vibrating discrete spring–mass system injects waves into the distributed beam through the spring forces at the two spring attached points. Assembling these wave relations in the beam provides an analytical solution to vibrations of the combined system. Accuracy of the proposed wave analysis approach is validated through comparisons to available results. This wave-based approach is further extended to analyze vibrations in a planar portal frame that carries a discrete 2DOF spring–mass system, where in addition to the transverse motion, the axial motion must be included due to the coupling effect at the angled joint of the frame. The wave vibration approach is seen to provide a systematic and concise technique for solving vibration problems in combined distributed and discrete systems.

Free and Forced Wave Vibration Analysis of a Timoshenko Beam/Frame Carrying a Two-Degree-of-Freedom Spring-Mass System

2021 ◽  
pp. 1-25
Author(s):  
Carole Mei
Keyword(s):  
Timoshenko Beam ◽  
Discrete Systems ◽  
Degree Of Freedom ◽  
Combined System ◽  
Bending Vibrations ◽  
Mass System ◽  
Short Beam ◽  
Beam Frame ◽  
Classical Vibration ◽  
Two Degree Of Freedom

Abstract In this paper, free and forced vibrations of a transversely vibrating Timoshenko beam/frame carrying a discrete two-degree-of-freedom spring-mass system are analyzed using the wave vibration approach, in which vibrations are described as waves that propagate along uniform structural elements and are reflected and transmitted at structural discontinuities. From the wave vibration standpoint, external excitations applied to a structure have the effect of injecting vibration waves to the structure. In the combined beam/frame and two-degree-of-freedom spring-mass system, the vibrating discrete spring-mass system injects waves into the distributed beam/frame through the spring forces at the two spring attached points. Assembling the propagation, reflection, transmission, and external force injected wave relations in the beam/frame provides an analytical solution to vibrations of the combined system. In this study, the effects of rotary inertia and shear deformation on bending vibrations are taken into account, which is important when the combined structure involves short beam element or when higher frequency modes are of interest. Numerical examples are given, with comparisons to available results based on classical vibration theories. The wave vibration approach is seen to provide a systematic and concise solution to both free and forced vibration problems in hybrid distributed and discrete systems.

Flexure-Based Two Degree-of-Freedom Legs for Walking Microrobots

2006 ◽  
Author(s):  
Ankur M. Mehta ◽  
Kristofer S. J. Pister
Keyword(s):  
Analytical Model ◽  
Design Space ◽  
Beam Theory ◽  
Degree Of Freedom ◽  
Bernoulli Beam ◽  
Comb Drive ◽  
Walking Gait ◽  
Euler Bernoulli Beam ◽  
Force Displacement ◽  
Two Degree Of Freedom

This work examines the design of legs for a walking microrobot. The parameterized force-displacement relationships of planar serpentine flexure-based two degree-of-freedom legs are analyzed. An analytical model based on Euler-Bernoulli beam theory is developed to explore the design space, and is subsequently refined to include contact between adjacent beams. This is used to determine a successful leg geometry given dimensional constraints and actuator limitations. Standard comb drive actuators that output 100 μN of force over a 15 μm bi-directional throw are shown able to drive a walking gait with three legs on a 1 cm2 silicon die microrobot. If the comb drive suspensions cannot withstand the generated reaction moments, an alternate pivot-based leg linkage is proposed.

Vibration of Beam with Elastically Restrained Ends and Rotational Spring-Lumped Rotary Inertia System at Mid-Span

2015 ◽  
Vol 15 (02) ◽  
pp. 1450040 ◽  
Author(s):  
Seyed Mojtaba Hozhabrossadati ◽  
Ahmad Aftabi Sani ◽  
Masood Mofid
Keyword(s):  
Technical Note ◽  
Rotary Inertia ◽  
Mode Shapes ◽  
Bernoulli Beam ◽  
Mass System ◽  
Rotational Spring ◽  
Beam System ◽  
Sample Frequency ◽  
Elastically Restrained ◽  
Euler Bernoulli Beam

This technical note addresses the free vibration problem of an elastically restrained Euler–Bernoulli beam with rotational spring-lumped rotary inertia system at its mid-span hinge. The governing differential equations and the boundary conditions of the beam are presented. Special attention is directed toward the conditions of the intermediate spring-mass system which plays a key role in the solution. Sample frequency parameters of the beam system are solved and tabulated. Mode shapes of the beam are also plotted for some spring stiffnesses.

On the Natural Modes and Their Stability in Nonlinear Two-Degree-of-Freedom Systems

1959 ◽  
Vol 26 (3) ◽  
pp. 377-385
Author(s):  
R. M. Rosenberg ◽  
C. P. Atkinson
Keyword(s):  
Free Vibrations ◽  
Degree Of Freedom ◽  
Single Degree Of Freedom ◽  
Single Degree ◽  
Natural Modes ◽  
Theoretical Predictions ◽  
Stability Chart ◽  
The Stability ◽  
Two Parameters ◽  
Two Degree Of Freedom

Abstract The natural modes of free vibrations of a symmetrical two-degree-of-freedom system are analyzed theoretically and experimentally. This system has two natural modes, one in-phase and the other out-of-phase. In contradistinction to the comparable single-degree-of-freedom system where the free vibrations are always orbitally stable, the natural modes of the symmetrical two-degree-of-freedom system are frequently unstable. The stability properties depend on two parameters and are easily deduced from a stability chart. For sufficiently small amplitudes both modes are, in general, stable. When the coupling spring is linear, both modes are always stable at all amplitudes. For other conditions, either mode may become unstable at certain amplitudes. In particular, if there is a single value of frequency and amplitude at which the system can vibrate in either mode, the out-of-phase mode experiences a change of stability. The experimental investigation has generally confirmed the theoretical predictions.

FREE VIBRATIONS OF A COMPLEX EULER-BERNOULLI BEAM

1996 ◽  
Vol 190 (5) ◽  
pp. 852-856 ◽  
Author(s):  
N. Popplewell ◽  
Daqing Chang
Keyword(s):  
Free Vibrations ◽  
Bernoulli Beam ◽  
Euler Bernoulli Beam

Nonlinear Normal Modes and Localization in Elastic Vibro-Impact Systems With Multiple Constraints

2007 ◽  
Author(s):  
David Wagg
Keyword(s):  
Mathematical Formulation ◽  
Normal Modes ◽  
Nonlinear Normal Modes ◽  
Degree Of Freedom ◽  
Lumped Mass ◽  
Localized Modes ◽  
Impact Oscillator ◽  
Mass System ◽  
Nonlinear Normal ◽  
Two Degree Of Freedom

In this paper we consider the dynamics of compliant mechanical systems subject to combined vibration and impact forcing. Two specific systems are considered; a two degree of freedom impact oscillator and a clamped-clamped beam. Both systems are subject to multiple motion limiting constraints. A mathematical formulation for modelling such systems is developed using a modal approach including a modal form of the coefficient of restitution rule. The possible impact configurations for an N degree of freedom lumped mass system are considered. We then consider sticking motions which occur when a single mass in the system becomes stuck to an impact stop, which is a form of periodic localization. Then using the example of a two degree of freedom system with two constraints we describe exact modal solutions for the free flight and sticking motions which occur in this system. A numerical example of a sticking orbit for this system is shown and we discuss identifying a nonlinear normal modal basis for the system. This is achieved by extending the normal modal basis to include localized modes. Finally preliminary experimental results from a clamped-clamped vibroimpacting beam are considered and a simplified model discussed which uses an extended modal basis including localized modes.

scholarly journals A Structured Approach to Solve the Inverse Eigenvalue Problem for a Beam with Added Mass

2014 ◽  
Vol 2014 ◽  
pp. 1-12 ◽  
Author(s):  
Farhad Mir Hosseini ◽  
Natalie Baddour
Keyword(s):  
Natural Frequencies ◽  
Point Of View ◽  
Inverse Eigenvalue Problem ◽  
Bernoulli Beam ◽  
Combined System ◽  
Vibrational System ◽  
Single Mass ◽  
Inverse Eigenvalue ◽  
Euler Bernoulli Beam ◽  
Structured Approach

The problem of determining the eigenvalues of a vibrational system having multiple lumped attachments has been investigated extensively. However, most of the research conducted in this field focuses on determining the natural frequencies of the combined system assuming that the characteristics of the combined vibrational system are known (forward problem). A problem of great interest from the point of view of engineering design is the ability to impose certain frequencies on the vibrational system or to avoid certain frequencies by modifying the characteristics of the vibrational system (inverse problem). In this paper, a method to impose two natural frequencies on a dynamical system consisting of an Euler-Bernoulli beam and carrying a single mass attachment is evaluated.

Approximate analytical solution for vibration of a 3-PRP planar parallel robot with flexible moving platform

Robotica ◽  
2014 ◽  
Vol 34 (1) ◽  
pp. 71-97 ◽  
Author(s):  
Mahdi Sharifnia ◽  
Alireza Akbarzadeh
Keyword(s):  
Analytical Solution ◽  
Solution Method ◽  
Parallel Robot ◽  
Mode Shapes ◽  
Constrained Motion ◽  
Bernoulli Beam ◽  
Actual Length ◽  
Prismatic Joint ◽  
Moving Platform ◽  
Euler Bernoulli Beam

SUMMARYIn this research, using an approximate analytical method, vibration analysis of a 3-PRP (active prismatic—P, passive revolute—R, passive prismatic—P) planar parallel robot having a flexible moving platform is presented. A specific architecture of the 3-PRP parallel robot, also known as the ST (Star-Triangle) parallel robot, is considered. The moving platform of the robot, called the star, is assumed to be made of three flexible beams shaped like a star. For analytical modeling, each of the three beams of the star is assumed to be a discrete Euler–Bernoulli beam with a passive prismatic joint. Continuity equations at the center of the star are used to relate vibrations of the three beams. The vibration behavior of each beam is modeled using previously developed constrained motion equations for a planar Euler–Bernoulli beam having a prismatic joint. In this paper, previously presented “constrained assumed modes method” is further developed to solve the constrained motion equation for the ST parallel robot. The solution method is used to obtain the vibration of the robot for the inverse dynamics problem and simultaneously provides generalized constraint forces. Furthermore, the solution method can be used for the direct dynamics problem of the ST robot. Several input trajectories are considered to investigate the different behavior for the center of the star. For each of the trajectories, three different groups of mode shapes are considered and their vibrational responses are compared. In this research, for the first time, effects of the passive prismatic joint parameters such as mass, rotational moment of inertia, and its actual length are considered in an analytical model. Finally, the analytical solution and a FEM (Finite Element Method) software solution are compared.

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