Articulated Models of Cantilevers Conveying Fluid: The Study of a Paradox

1970 ◽  
Vol 12 (4) ◽  
pp. 288-300 ◽  
Author(s):  
M. P. Paidoussis ◽  
E. B. Deksnis
Keyword(s):  
Degrees Of Freedom ◽  
Continuous System ◽  
Dynamical Behaviour ◽  
Degree Of Freedom ◽  
Complex Frequency ◽  
Good Convergence ◽  
Articulated Models ◽  
Two Degree Of Freedom ◽  
Conveying Fluid ◽  
Oscillatory Instabilities

A general theory is presented for the dynamics of nth-degree-of-freedom articulated (lumped flexibility) models of cantilevers conveying fluid, of which the two-degree-of-freedom model of a column subjected to follower forces (first investigated by Ziegler) is a particular case. The ability of the articulated system to predict the dynamical behaviour of the continuous system modelled is investigated, and in particular the paradox that, whereas the continuous system is subject to only oscillatory instability (at sufficiently high flow), the model is generally subject to both oscillatory and buckling instabilities, and sometimes only to the latter. Complex frequency calculations show that buckling is associated with the higher modes of the articulated system, which, irrespective of the number of degrees of freedom, do not model well the corresponding modes of the continuous system. The critical flow velocities for buckling and oscillatory instabilities are calculated extensively, the latter showing good convergence to the corresponding values of the continuous system. The theory is supported by a set of experiments. Agreement between theory and experiment is satisfactorily good.

Dynamics of Tubular Cantilevers Conveying Fluid

1970 ◽  
Vol 12 (2) ◽  
pp. 85-103 ◽  
Author(s):  
M. P. Paidoussis
Keyword(s):  
Quantitative Agreement ◽  
Dynamical Behaviour ◽  
Oscillatory Instability ◽  
Complex Frequency ◽  
Buckling Instability ◽  
Gravity Forces ◽  
Stability Maps ◽  
Conditions Of Stability ◽  
Conveying Fluid ◽  
Flow Velocities

In Part 1 a general theory is presented to account for the small, free, lateral motions of a vertical, uniform, tubular cantilever conveying fluid, with the free end being either below the clamped one (‘hanging’ cantilever) or above it (‘standing’ cantilever). Gravity forces are not considered to be negligible. It is shown that, when the velocity of the fluid exceeds a certain value, the cantilever in all cases becomes subject to oscillatory instability. In the case of hanging cantilevers buckling instability does not occur. Standing cantilevers, on the other hand, may buckle under their own weight; it is shown that in some cases flow (within a certain range of flow velocities) may render stable a system which would buckle in the absence of flow. Extensive complex frequency calculations were conducted to illuminate the dynamical behaviour of the system with increasing flow. The conditions of stability have also been extensively calculated and stability maps constructed. It is shown that dissipative forces may have either a stabilizing or a destabilizing effect on the system, partly depending on the magnitude of these forces themselves. The experiments described in Part 2 were designed to illustrate the dynamical behaviour of vertical tubular cantilevers conveying fluid. The experiments were conducted with rubber tubes conveying either water or air. The tubes were either hanging down or standing upright. It was observed that for sufficiently high flow velocities both hanging and standing cantilevers become subject to oscillatory instability. It was also observed that standing cantilevers which would buckle under their own weight in the absence of flow, in some cases are rendered stable by flow within a certain range of flow velocities. Qualitative and quantitative agreement between theory and experiment was satisfactorily good.

On Motion Switchability in a Two Degree of Freedom, Friction-Induced Oscillator Traveling on Constant Speed Belts

2009 ◽  
Author(s):  
Albert C. J. Luo ◽  
Tingting Mao
Keyword(s):  
Degrees Of Freedom ◽  
Degree Of Freedom ◽  
Constant Speed ◽  
Periodic Motions ◽  
Mapping Structures ◽  
Two Degree Of Freedom ◽  
Motion Complexity

In this paper, all possible stick and non-stick motions in such a friction-induced oscillator are discussed and the corresponding analytical conditions for the stick and non-stick motions to the traveling belts are presented. The mapping structures are introduced and the periodic motions of the two oscillators are presented through the corresponding mapping structure. Velocity and force responses for stick and non-stick, periodic motions in the 2-DOF friction-induced system are illustrated for a better understanding of the motion complexity in such many degrees of freedom systems.

Flow-Induced Vibration of Long-Span Gates

2017 ◽  
pp. 294-386
Keyword(s):  
Vortex Shedding ◽  
Degrees Of Freedom ◽  
Equations Of Motion ◽  
Full Scale ◽  
Degree Of Freedom ◽  
Theoretical Development ◽  
Flow Induced Vibration ◽  
Long Span ◽  
Free Discharge ◽  
Two Degree Of Freedom

In this chapter the theoretical equations for fluctuating pressures due to vertical and streamwise gate motions developed in Chapters 4 and 5 are used to derive equations of motion for long-span gates with underflow, overflow and simultaneous over- and underflow. Theoretical development of analysis methods is supported by laboratory and full-scale measurements. Specifically, this chapter considers long-span gate instabilities including one degree-of-freedom vibration of gates with underflow and free discharge, one degree-of-freedom vibration of a gate with submerged discharge and vortex shedding excitation, a two degree-of-freedom vibration of long-span gates with only underflow, and two degrees-of-freedom vibration of long-span gates with simultaneous over and underflow. A method is developed to predict pressure loading on the crest of the gate with overflow.

Modeling and Experimental Evaluation of Asymmetric Pantograph Dynamics

1988 ◽  
Vol 110 (2) ◽  
pp. 168-174 ◽  
Author(s):  
S. D. Eppinger ◽  
D. N. O’Connor ◽  
W. P. Seering ◽  
D. N. Wormley
Keyword(s):  
High Performance ◽  
Degrees Of Freedom ◽  
Dynamic Models ◽  
Dynamic Testing ◽  
Dynamic Performance ◽  
Performance Model ◽  
Degree Of Freedom ◽  
Additional Degree ◽  
Three Degree Of Freedom ◽  
Two Degree Of Freedom

High-performance pantograph design requires control of pantograph dynamic performance. Many pantograph dynamic models developed to aid in the design process have employed two degrees of freedom, one for the head mass and one for the frame. In this paper, the applicability of these models to symmetric and asymmetric pantograph designs is reviewed. Two degree-of-freedom models have been shown to be appropriate to represent a number of symmetric pantograph designs. To represent the asymmetric designs considered in this paper, an additional degree of freedom representing frame dynamics has been introduced to yield a three degree-of-freedom nonlinear dynamic performance model. The model has been evaluated with experimental data obtained from laboratory dynamic testing of an asymmetric pantograph.

Identification of Two Degree of Freedom Robot Arm’s Joints’ Time-Varying Stiffness

2012 ◽  
Vol 241-244 ◽  
pp. 1880-1884
Author(s):  
Rui Xu ◽  
Qiang Chen ◽  
Guo Lai Yang
Keyword(s):  
Degrees Of Freedom ◽  
Least Square Method ◽  
Identification Problem ◽  
Degree Of Freedom ◽  
Least Square ◽  
Analytical Mechanics ◽  
Time Varying ◽  
Robot Arm ◽  
Whole Process ◽  
Two Degree Of Freedom

This paper is concerned with the identification problem of two degree of freedom robot arm’s joints’ time-varying stiffness. The dynamic equation of two degrees of freedom robot arm can be obtained by using analytical mechanics method. Then by choosing limited memory least square method, time-varying stiffness can be identified. Finally, the calculative stiffness is compared to the “real” stiffness which is simulated in ADAMS. The whole process shows that the robot arm’s dynamic model and the method of identification are both effective.

Vibration Response of Linear Damped Complex Systems

1963 ◽  
Vol 30 (1) ◽  
pp. 70-74 ◽  
Author(s):  
Robert Plunkett
Keyword(s):  
Linear System ◽  
Complex Systems ◽  
Normal Modes ◽  
Continuous System ◽  
Vibration Response ◽  
Degree Of Freedom ◽  
The Other ◽  
Maximum Response ◽  
Approximate Expressions ◽  
Two Degree Of Freedom

Hahnkamm has found the changes in the amplitudes of each of the two maxima of the unit vibration response of a two-degree-of-freedom linear system as the strength of the single linear dashpot is changed. This paper develops two approximate expressions for the change in all of the response maxima of a multidegree or continuous system as the dashpot constant of the single linear damper is changed. One of these approximations is derived from a perturbation solution around the minimax values, and the other is derived from an expansion in normal modes. These expressions are useful in determining the sensitivity of the maximum response value to small changes in the damping constant.

A 7R-Based, Two Degrees of Freedom Robomech

2000 ◽  
Author(s):  
Ahmad A. Smaili
Keyword(s):  
Degrees Of Freedom ◽  
Parallel Architecture ◽  
Degree Of Freedom ◽  
Robot Arm ◽  
End Effector ◽  
Kinematic Constraints ◽  
Two Degrees Of Freedom ◽  
Synthesis Procedure ◽  
Two Degree Of Freedom

Abstract A robomech is a crossbreed of a mechanism and a robot arm. It has a parallel architecture equipped with more than one end effector to accomplish tasks that require the coordination of many functions. Robomechs with multi degrees of freedom that are based on the 4R and 5R chains have found their way into the literature. This article presents a new, two-degree of freedom robomech whose architecture is based on the 7R chain. The robomech is capable of performing two-function tasks. The features, kinematic constraints, and synthesis procedure of the robomech are outlined and an application example is given.

scholarly journals DYNAMICS OF A TWO DEGREE OF FREEDOM VIBRO-IMPACT SYSTEM WITH MULTIPLE MOTION LIMITING CONSTRAINTS

2004 ◽  
Vol 14 (01) ◽  
pp. 119-140 ◽  
Author(s):  
D. J. WAGG ◽  
S. R. BISHOP
Keyword(s):  
Degrees Of Freedom ◽  
Dynamical Behavior ◽  
Mathematical Formulation ◽  
Constrained Systems ◽  
Degree Of Freedom ◽  
Dimensional Parameter ◽  
Impact Oscillators ◽  
Single Mass ◽  
The Impact ◽  
Two Degree Of Freedom

We consider the dynamics of impact oscillators with multiple degrees of freedom subject to more than one motion limiting constraint or stop. A mathematical formulation for modeling 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 system are considered, along with definitions of the impact map for multiply constrained systems. We consider sticking motions that occur when a single mass in the system becomes stuck to an impact stop, and discuss the computational issues related to computing such solutions. 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. Numerical examples of sticking orbits for this system are shown and we discuss identifying the region, S in phase space where these orbits exist. We use bifurcation diagrams to indicate differing regimes of vibro-impacting motion for two different cases; firstly when the stops are both equal and on the same side (i.e. the same sign) and secondly when the stops are unequal and of opposing sign. For these two different constraint configurations we observe qualitatively different dynamical behavior, which is interpreted using impact mappings and two-dimensional parameter space.

Two-Degree-of-Freedom Decoupled Nonredundant Cable-Loop-Driven Parallel Mechanism

2013 ◽  
Vol 6 (1) ◽  
Author(s):  
Hanwei Liu ◽  
Clément Gosselin ◽  
Thierry Laliberté
Keyword(s):  
Parallel Mechanism ◽  
Degrees Of Freedom ◽  
Degree Of Freedom ◽  
The Other ◽  
End Effector ◽  
Two Degrees Of Freedom ◽  
Actuation Redundancy ◽  
Rigid Link ◽  
Force Closure ◽  
Two Degree Of Freedom

A novel two-degree-of-freedom (DOF) cable-loop slider-driven parallel mechanism is introduced in this paper. The novelty of the mechanism lies in the fact that no passive rigid-link mechanism or springs are needed to support the end-effector (only cables are connected to the end-effector) while at the same time there is no actuation redundancy in the mechanism. Sliders located on the edges of the workspace are used and actuation redundancy is eliminated while providing force closure everywhere in the workspace. It is shown that the two degrees of freedom of the mechanism are decoupled and only two actuators are needed to control the motion. There are two cable loops for each direction of motion: one acts as the actuating loop while the other is the constraint loop. Due to the simple geometric design, the kinematic and static equations of the mechanism are very compact. The stiffness of the mechanism is also analyzed in the paper. It can be observed that the mechanism's stiffness is much higher than the stiffness of the cables. The proposed mechanism's workspace is essentially equal to its footprint and there are no singularities.

scholarly journals Higher order stochastic averaging method for mechanical systems having two degrees of freedom

2004 ◽  
Vol 26 (2) ◽  
pp. 103-110
Author(s):  
Nguyen Duc Tinh
Keyword(s):  
Degrees Of Freedom ◽  
Averaging Method ◽  
Stochastic Averaging ◽  
Stochastic Averaging Method ◽  
Higher Order ◽  
Degree Of Freedom ◽  
Approximation Solution ◽  
Single Degree Of Freedom ◽  
Single Degree ◽  
Two Degree Of Freedom

Higher order stochastic averaging method is widely used for investigating single-degree-of-freedom nonlinear systems subjected to white and coloured random noises.In this paper the method is further developed for two-degree-of-freedom systems. An application to a system with cubic damping is considered and the second approximation solution to the Fokker-Planck (FP) equation is obtained.

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