Application of Timoshenko Beam Theory to the Dynamics of Flexible Legged Locomotion

1988 ◽  
Vol 110 (1) ◽  
pp. 28-34
Author(s):  
E. M. Bakr ◽  
A. A. Shabana
Keyword(s):  
Shear Deformation ◽  
Timoshenko Beam ◽  
Shape Function ◽  
Reference Conditions ◽  
Beam Theory ◽  
Legged Locomotion ◽  
Rotary Inertia ◽  
Stiffness Matrices ◽  
Reference Motion ◽  
Invariant Matrices

A method for the dynamic analysis of flexible legged locomotion systems that accounts for the rotary inertia and shear deformation effects is presented. The motion of the flexible components in the legged vehicle is described using a set of inertia-variant Timoshenko beams that undergo large rotations. A shape function that accounts for the combined effect of rotary inertia and shear is employed to describe the deformation relative to a selected component reference and the rigid-body modes of the shape function are eliminated using a set of reference conditions. Kinetic and strain energies are derived for each Timoshenko beam, thus identifying the beam mass and stiffness matrices which account for the rotary inertia and shear deformation effects. A new set of time-invariant matrices that describe the nonlinear inertia coupling between the reference motion and elastic deformation and account for the rotary inertia and shear is developed and it is shown that the form of these matrices as well as the mass and stiffness matrices are significantly affected by the inclusion of rotary inertia and shear. Numerical experimentations indicate that shear and rotary inertia can have a significant effect on the dynamics of flexible legged locomotion.

scholarly journals Natural Frequency Characteristics of the Beam with Different Cross Sections Considering the Shear Deformation Induced Rotary Inertia

2020 ◽  
Vol 10 (15) ◽  
pp. 5245
Author(s):  
Chunfeng Wan ◽  
Huachen Jiang ◽  
Liyu Xie ◽  
Caiqian Yang ◽  
Youliang Ding ◽  
...  
Keyword(s):  
Shear Deformation ◽  
Cross Sections ◽  
Timoshenko Beam ◽  
High Frequency ◽  
Natural Frequencies ◽  
Beam Theory ◽  
Equation Of Motion ◽  
Timoshenko Beam Theory ◽  
Rotary Inertia ◽  
Cross Sectional

Based on the classical Timoshenko beam theory, the rotary inertia caused by shear deformation is further considered and then the equation of motion of the Timoshenko beam theory is modified. The dynamic characteristics of this new model, named the modified Timoshenko beam, have been discussed, and the distortion of natural frequencies of Timoshenko beam is improved, especially at high-frequency bands. The effects of different cross-sectional types on natural frequencies of the modified Timoshenko beam are studied, and corresponding simulations have been conducted. The results demonstrate that the modified Timoshenko beam can successfully be applied to all beams of three given cross sections, i.e., rectangular, rectangular hollow, and circular cross sections, subjected to different boundary conditions. The consequence verifies the validity and necessity of the modification.

scholarly journals Who developed the so-called Timoshenko beam theory?

2019 ◽  
Vol 25 (1) ◽  
pp. 97-116 ◽  
Author(s):  
Isaac Elishakoff
Keyword(s):  
Shear Deformation ◽  
Correction Factor ◽  
Timoshenko Beam ◽  
World Literature ◽  
Beam Theory ◽  
Scientific Work ◽  
Timoshenko Beam Theory ◽  
Rotary Inertia ◽  
The World ◽  
First Time

The use of the Google Scholar produces about 78,000 hits on the term “Timoshenko beam.” The question of priority is of great importance for this celebrated theory. For the first time in the world literature, this study is devoted to the question of priority. It is that Stephen Prokofievich Timoshenko had a co-author, Paul Ehrenfest. It so happened that the scientific work of Timoshenko dealing with the effect of rotary inertia and shear deformation does not carry the name of Ehrenfest as the co-author. In his 2002 book, Grigolyuk concluded that the theory belonged to both Timoshenko and Ehrenfest. This work confirms Grigolyuk’s discovery, in his little known biographic book about Timoshenko, and provides details, including the newly discovered letter of Timoshenko to Ehrenfest, which is published here for the first time over a century after it was sent. This paper establishes that the beam theory that incorporates both the rotary inertia and shear deformation as is known presently, with shear correction factor included, should be referred to as the Timoshenko-Ehrenfest beam theory.

Celebrating the Centenary of Timoshenko's Study of Effects of Shear Deformation and Rotary Inertia

2015 ◽  
Vol 67 (6) ◽  
Author(s):  
Isaac Elishakoff ◽  
Julius Kaplunov ◽  
Evgeniya Nolde
Keyword(s):  
Differential Equation ◽  
Shear Deformation ◽  
Timoshenko Beam ◽  
Initial Conditions ◽  
Beam Theory ◽  
Timoshenko Beam Theory ◽  
Rotary Inertia ◽  
Governing Differential Equation ◽  
Second Spectrum

This study revisits Timoshenko beam theory (TBT). It discusses at depth a more consistent and simpler governing differential equation. The so-called second spectrum is also addressed. Then, we provide the asymptotic justification of the aforementioned differential equation along with detailed discussion of the boundary and initial conditions. The paper also presents remarks of historical character, in the context of other pertinent studies.

Medium Frequency Vibration Analysis of Beam Structures Modeled by the Timoshenko Beam Theory

2020 ◽  
Author(s):  
Yichi Zhang ◽  
Bingen Yang
Keyword(s):  
Shear Deformation ◽  
Timoshenko Beam ◽  
Vibration Analysis ◽  
Beam Theory ◽  
Timoshenko Beam Theory ◽  
Bernoulli Beam ◽  
Beam Structure ◽  
Medium Frequency ◽  
Beam Structures ◽  
Euler Bernoulli Beam

Abstract Vibration analysis of complex structures at medium frequencies plays an important role in automotive engineering. Flexible beam structures modeled by the classical Euler-Bernoulli beam theory have been widely used in many engineering problems. A kinematic hypothesis in the Euler-Bernoulli beam theory is that plane sections of a beam normal to its neutral axis remain normal when the beam experiences bending deformation, which neglects the shear deformation of the beam. However, as observed by researchers, the shear deformation of a beam component becomes noticeable in high-frequency vibrations. In this sense, the Timoshenko beam theory, which describes both bending deformation and shear deformation, may be more suitable for medium-frequency vibration analysis of beam structures. This paper presents an analytical method for medium-frequency vibration analysis of beam structures, with components modeled by the Timoshenko beam theory. The proposed method is developed based on the augmented Distributed Transfer Function Method (DTFM), which has been shown to be useful in various vibration problems. The proposed method models a Timoshenko beam structure by a spatial state-space formulation in the s-domain, without any discretization. With the state-space formulation, the frequency response of a beam structure, in any frequency region (from low to very high frequencies), can be obtained in an exact and analytical form. One advantage of the proposed method is that the local information of a beam structure, such as displacements, bending moment and shear force at any location, can be directly obtained from the space-state formulation, which otherwise would be very difficult with energy-based methods. The medium-frequency analysis by the augmented DTFM is validated with the FEA in numerical examples, where the efficiency and accuracy of the proposed method is present. Also, the effects of shear deformation on the dynamic behaviors of a beam structure at medium frequencies are illustrated through comparison of the Timoshenko beam theory and the Euler-Bernoulli beam theory.

Dynamic Stability of Timoshenko Beams by Finite Element Method

1976 ◽  
Vol 98 (4) ◽  
pp. 1145-1149 ◽  
Author(s):  
J. Thomas ◽  
B. A. H. Abbas
Keyword(s):  
Finite Element Method ◽  
Finite Element ◽  
Stability Analysis ◽  
Shear Deformation ◽  
Dynamic Stability ◽  
Timoshenko Beam ◽  
Dynamic Instability ◽  
Rotary Inertia ◽  
Timoshenko Beams ◽  
Buckling Loads

A Finite Element model is developed for the stability analysis of Timoshenko beam subjected to periodic axial loads. The effect of the shear deformation on the static buckling loads is studied by finite element method. The results obtained show excellent agreement with those obtained by other analytical methods for the first three buckling loads. The effect of shear deformation and for the first time the effect of rotary inertia on the regions of dynamic instability are investigated. The elastic stiffness, geometric stiffness, and inertia matrices are developed and presented in this paper for a Timoshenko beam. The matrix equation for the dynamic stability analysis is derived and solved for hinged-hinged and cantilevered Timoshenko beams and the results are presented. Values of critical loads for beams with various shear parameters are presented in a graphical form. First four regions of dynamic instability for different values of rotary inertia parameters are presented. As the rotary inertia parameter increases the regions of instability get closer to each other and the width of the regions increases thus making the beam more sensitive to periodic forces.

scholarly journals Timoshenko Beam Theory Exact Solution For Bending, Second-Order Analysis, and Stability

2020 ◽  
Author(s):  
Valentin Fogang
Keyword(s):  
Exact Solution ◽  
Timoshenko Beam ◽  
Beam Theory ◽  
Second Order ◽  
Timoshenko Beam Theory ◽  
Bernoulli Beam ◽  
Closed Form Solutions ◽  
Order Analysis ◽  
Stiffness Matrices ◽  
Order Element

This paper presents an exact solution to the Timoshenko beam theory (TBT) for bending, second-order analysis, and stability. The TBT covers cases associated with small deflections based on shear deformation considerations, whereas the Euler–Bernoulli beam theory neglects shear deformations. A material law (a moment-shear force-curvature equation) combining bending and shear is presented, together with closed-form solutions based on this material law. A bending analysis of a Timoshenko beam was conducted, and buckling loads were determined on the basis of the bending shear factor. First-order element stiffness matrices were calculated. Finally second-order element stiffness matrices were deduced on the basis of the same principle.

Medium-Frequency Vibration Analysis of Timoshenko Beam Structures

2020 ◽  
Vol 20 (13) ◽  
pp. 2041009
Author(s):  
Yichi Zhang ◽  
Bingen Yang
Keyword(s):  
Shear Deformation ◽  
Timoshenko Beam ◽  
Vibration Analysis ◽  
Beam Theory ◽  
Frequency Region ◽  
Bernoulli Beam ◽  
Beam Structure ◽  
Medium Frequency ◽  
Beam Structures ◽  
Euler Bernoulli Beam

Medium-frequency (mid-frequency) vibration analysis of complex structures plays an important role in automotive, aerospace, mechanical, and civil engineering. Flexible beam structures modeled by the classical Euler–Bernoulli beam theory have been widely used in various engineering problems. A kinematic hypothesis made in the Euler–Bernoulli beam theory is that the plane sections of a beam normal to its neutral axis remain planes after the beam experiences bending deformation, which neglects shear deformation. However, previous investigations found out that the shear deformation of a beam (even with a large slenderness ratio) becomes noticeable in high-frequency vibrations. The Timoshenko beam theory, which describes both bending deformation and shear deformation, would naturally be more suitable for medium-frequency vibration analysis. Nevertheless, vibrations of Timoshenko beam structures in a medium frequency region have not been well studied in the literature. This paper presents a new method for mid-frequency vibration analysis of two-dimensional Timoshenko beam structures. The proposed method, which is called the augmented Distributed Transfer Function Method (DTFM), models a Timoshenko beam structure by a spatial state-space formulation in the [Formula: see text]-domain. The augmented DTFM determines the frequency response of a beam structure in an exact and analytical form, in any frequency region covering low, middle, or high frequencies. Meanwhile, the proposed method provides the local information of a beam structure, such as displacement, shear deformation, bending moment and shear force at any location, which otherwise would be very difficult with energy-based methods. The medium-frequency analysis by the augmented DTFM is validated in numerical examples, where the efficiency and accuracy of the proposed method is demonstrated. Also, the effects of shear deformation on the dynamic behaviors of a beam structure at medium frequencies are examined through comparison of the Timoshenko beam and Euler–Bernoulli beam theories.

Dynamic Stability of Elastic Mechanisms

1979 ◽  
Vol 101 (1) ◽  
pp. 149-153 ◽  
Author(s):  
M. Badlani ◽  
W. Kleinhenz
Keyword(s):  
Shear Deformation ◽  
Dynamic Stability ◽  
Timoshenko Beam ◽  
Rotary Inertia ◽  
Connecting Rod ◽  
Crank Mechanism ◽  
Beam Theories

A study of the dynamic stability of a slider-crank mechanism with an undamped elastic connecting rod is presented using the Euler-Bernoulli and Timoshenko beam theories. It is shown that new regions of instability exist when rotary inertia and shear deformation effects are included in the analysis.

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