Vibrations of a Flexible-Link Flexible-Base Robot Arm

2007 ◽  
Author(s):  
Samir E. Emam
Keyword(s):  
Differential Equations ◽  
Rigid Body ◽  
Natural Frequencies ◽  
Vertical Plane ◽  
Vertical Direction ◽  
Body Motion ◽  
Mode Shapes ◽  
Flexible Beam ◽  
Robot Arm ◽  
Lumped Mass

Dynamics and vibrations of flexible robot arms have received considerable attention in recent years. The flexibility of the arm affects the function of the robot and complicates its dynamics as well. Generally, the base of the robot arm has some elasticity, which also affects the precision of its function. We model the robot arm as a flexible beam moving in a vertical plane and resting on two springs: one is in the vertical direction and the other one is in the rotational direction. A lumped mass, which simulates the payload, is attached to the tip of the beam. The beam translates and rotates as a rigid body and moreover it deforms in the lateral direction. The extended Hamilton principle is used to derive the governing equations of motion and their corresponding boundary conditions. We obtained three coupled differential equations: two ordinary-differential equations governing the rigid-body motion of the arm and a partial differential equation governing its deformation. An exact solution for the natural frequencies and mode shapes of the vibrations of the arm about an equilibrium position is obtained. The significance of the effect of the flexibility of the link and the base and the ratio of the mass at the tip point to the mass of the beam on the natural frequencies and mode shapes is investigated.

A Unified Frequency Equation and the Motion Analysis of a Moving Flexible Beam Carrying a Concentrated Mass

1999 ◽  
Author(s):  
S. Park ◽  
J. W. Lee ◽  
Y. Youm ◽  
W. K. Chung
Keyword(s):  
Natural Frequencies ◽  
Equations Of Motion ◽  
Frequency Equation ◽  
Open Loop ◽  
Mode Shapes ◽  
Flexible Beam ◽  
Lumped Mass ◽  
Concentrated Mass ◽  
Forcing Function ◽  
The Mathematical Model

Abstract In this paper, the mathematical model of a Bernoulli-Euler cantilever beam fixed on a moving cart and carrying an intermediate lumped mass is derived. The equations of motion of the beam-mass-cart system is analyzed utilizing unconstrained modal analysis, and a unified frequency equation which can be generally applied to this kind of system is obtained. The change of natural frequencies and mode shapes with respect to the change of the mass ratios of the beam, the lumped mass and the cart and to the position of the lumped mass is investigated. The open-loop responses of the system by arbitrary forcing function are also obtained through numerical simulations.

Influence of Geometric Imperfections on Vibrational Frequencies of Thin Rings

1975 ◽  
Vol 97 (4) ◽  
pp. 1199-1203
Author(s):  
Joseph R. Gartner ◽  
Shrikant T. Bhat
Keyword(s):  
Cross Section ◽  
Natural Frequencies ◽  
Rectangular Cross Section ◽  
Circular Ring ◽  
Body Motion ◽  
Mode Shapes ◽  
Geometric Imperfections ◽  
Modal Coupling ◽  
Truncated Fourier Series ◽  
Energy Formulation

A relatively thin—thickness to radius ratio—circular ring with rectangular cross section has been investigated to numerically evaluate the effect of eccentricity on the in plane bending natural frequencies and mode shapes. The assumed boundary conditions correspond to a ring freely supported in space such that it is free to translate and rotate with rigid body motion. A truncated Fourier series solution is assumed in an energy formulation to obtain numerical approximations of the eigenvalues and the corresponding eigenvectors for different eccentricities. Extensional and inextensional models for both Flu¨gge and Love-Timoshenko ring models were considered with two thickness to radius ratios. Results show different rates of decrease in the magnitudes of the natural frequencies for different mode configurations. Existence of closely spaced frequencies along with modal coupling are noticeable at 50 percent eccentricity.

Computation of Nonlinear Response of Hydraulically Actuated Structures

1997 ◽  
Author(s):  
T. D. Burton ◽  
C. P. Baker ◽  
J. Y. Lew
Keyword(s):  
Rigid Body ◽  
Flexible Structures ◽  
Rigid Body Motion ◽  
Body Motion ◽  
Flexible Beam ◽  
Test Bed ◽  
Ode Models ◽  
Hydraulically Actuated ◽  
Pressure Dynamics ◽  
Low Order

Abstract The maneuvering and motion control of large flexible structures are often performed hydraulically. The pressure dynamics of the hydraulic subsystem and the rigid body and vibrational dynamics of the structure are fully coupled. The hydraulic subsystem pressure dynamics are strongly nonlinear, with the servovalve opening x(t) providing a parametric excitation. The rigid body and/or flexible body motions may be nonlinear as well. In order to obtain accurate ODE models of the pressure dynamics, hydraulic fluid compressibility must generally be taken into account, and this results in system ODE models which can be very stiff (even if a low order Galerkin-vibration model is used). In addition, the dependence of the pressure derivatives on the square root of pressure results in a “faster than exponential” behavior as certain limiting pressure values are approached, and this may cause further problems in the numerics, including instability. The purpose of this paper is to present an efficient strategy for numerical simulation of the response of this type of system. The main results are the following: 1) If the system has no rigid body modes and is thus “self-centered,” that is, there exists an inherent stiffening effect which tends to push the motion to a stable static equilibrium, then linearized models of the pressure dynamics work well, even for relatively large pressure excursions. This result, enabling linear system theory to be used, appears of value for design and optimization work; 2) If the system possesses a rigid body mode and is thus “non-centered,” i.e., there is no stiffness element restraining rigid body motion, then typically linearization does not work. We have, however discovered an artifice which can be introduced into the ODE model to alleviate the stiffness/instability problems; 3) in some situations an incompressible model can be used effectively to simulate quasi-steady pressure fluctuations (with care!). In addition to the aforementioned simulation aspects, we will present comparisons of the theoretical behavior with experimental histories of pressures, rigid body motion, and vibrational motion measured for the Battelle dynamics/controls test bed system: a hydraulically actuated system consisting of a long flexible beam with end mass, mounted on a hub which is rotated hydraulically. The low order ODE models predict most aspects of behavior accurately.

Development of an Analytical Model for Beams With Two Dimples in Opposing Direction

2017 ◽  
Author(s):  
Mofareh Ghazwani ◽  
Kyle Myers ◽  
Koorosh Naghshineh
Keyword(s):  
Differential Equations ◽  
Opposite Direction ◽  
Natural Frequencies ◽  
Mode Shapes ◽  
Modal Strain Energy ◽  
Noise And Vibration ◽  
Various Boundary Conditions ◽  
Strategic Approach ◽  
Value Model ◽  
Good Agreement

Structures such as beams and plates can produce unwanted noise and vibration. An emerging technique can reduce noise and vibration without any additional weight or cost. This method focuses on creating two dimples in the same and opposite direction on a beam’s surface where the effect of dimples on its natural frequencies is the problem of interest. The change in the natural frequency between both cases have a different trend. The strategic approach to calculate natural frequencies is as follows: first, a boundary value model (BVM) is developed for a beam with two dimples and subject to various boundary conditions using Hamilton’s Variational Principle. Differential equations describing the motion of each segment are presented. Beam natural frequencies and mode shapes are obtained using a numerical solution of the differential equations. A finite element method (FEM) is used to model the dimpled beam and verify the natural frequencies of the BVM. Both methods are also validated experimentally. The experimental results show a good agreement with the BVM and FEM results. A fixed-fixed beam with two dimples in the same and opposite direction is considered as an example in order to compute its natural frequencies and mode shapes. The effect of dimple locations and angles on the natural frequencies are investigated. The natural frequencies of each case represent a greater sensitivity to change in dimple angle for dimples placed at high modal strain energy regions of a uniform beam.

Effect of Weight on the Experimental Modal Analysis of Slender Cantilever Beams

2009 ◽  
Author(s):  
Lawrence Virgin ◽  
David Holland
Keyword(s):  
Modal Analysis ◽  
Natural Frequencies ◽  
Vertical Direction ◽  
Experimental Modal Analysis ◽  
Mode Shapes ◽  
Lateral Stiffness ◽  
Axial Loads ◽  
Horizontal Orientation ◽  
Beam System ◽  
Tensile Forces

It is relatively well known that axial loads tend to influence lateral stiffness and hence natural frequencies of slender structural components. Tensile forces tend to increase the lateral stiffness and compressive forces tend to reduce lateral stiffness, bringing with it the possibility of buckling. In many practical situations this is a negligible effect. But for very slender structures it can be important, including the effect of self-weight. This paper will focus attention on a form of double cantilever beam system, i.e., two cantilevers sharing a common hub. A differential axial load can be applied to this system via orientation in a gravitational field. We shall neglect the effect of gravity when the beams are in their horizontal orientation from a limited theoretical standpoint. It is of course present in the experiments but the cantilevers are much stiffer in one direction than the other, and the beams are clamped with their stiffer resistance in the vertical direction. The focus of the current paper is on the natural frequencies and mode shapes of a two-beam system from an experimental modal analysis perspective.

An Exact Solution for the Natural Frequencies of Flexible Beams Undergoing Overall Motions

2003 ◽  
Vol 9 (11) ◽  
pp. 1221-1229 ◽  
Author(s):  
Ali H Nayfeh ◽  
S.A. Emam ◽  
Sergio Preidikman ◽  
D.T. Mook
Keyword(s):  
Exact Solution ◽  
Natural Frequencies ◽  
Three Dimensional ◽  
Beam Theory ◽  
Free Vibrations ◽  
Mode Shapes ◽  
Flexible Beam ◽  
Bernoulli Beam ◽  
Flexible Beams ◽  
Euler Bernoulli Beam

We investigate the free vibrations of a flexible beam undergoing an overall two-dimensional motion. The beam is modeled using the Euler-Bernoulli beam theory. An exact solution for the natural frequencies and corresponding mode shapes of the beam is obtained. The model can be extended to beams undergoing three-dimensional motions.

Free Vibration Analysis of an Inflated Toroidal Shell

2002 ◽  
Vol 124 (3) ◽  
pp. 387-396 ◽  
Author(s):  
Akhilesh K. Jha ◽  
Daniel J. Inman ◽  
Raymond H. Plaut
Keyword(s):  
Differential Equations ◽  
Free Vibration ◽  
Vibration Analysis ◽  
Natural Frequencies ◽  
Circular Cross Section ◽  
Free Vibration Analysis ◽  
Longitudinal Direction ◽  
Variable Coefficients ◽  
Mode Shapes ◽  
Toroidal Shell

Free vibration analysis of a free inflated torus of circular cross-section is presented. The shell theory of Sanders, including the effect of pressure, is used in formulating the governing equations. These partial differential equations are reduced to ordinary differential equations with variable coefficients using complete waves in the form of trigonometric functions in the longitudinal direction. The assumed mode shapes are divided into symmetric and antisymmetric groups, each given by a Fourier series in the meridional coordinate. The solutions (natural frequencies and mode shapes) are obtained using Galerkin’s method and verified with published results. The natural frequencies are also obtained for a circular cylinder with shear diaphragm boundary condition as a special case of the toroidal shell. Finally, the effects of aspect ratio, pressure, and thickness on the natural frequencies of the inflated torus are studied.

Mechanical Behavior of an Electrostatically Actuated Microplate

2003 ◽  
Author(s):  
Xiaopeng Zhao ◽  
Eihab M. Abdel-Rahman ◽  
Ali H. Nayfeh
Keyword(s):  
Differential Equations ◽  
Natural Frequencies ◽  
Finite Dimension ◽  
Equations Of Motion ◽  
Galerkin Approximation ◽  
Mode Shapes ◽  
Design Parameters ◽  
Electrostatically Actuated ◽  
Linear Eigenvalue Problem ◽  
Electrically Actuated

We present a nonlinear model of electrically actuated microplates. The model accounts for the nonlinearity in the electric forcing as well as mid-plane stretching of the plate. We use a Galerkin approximation to reduce the partial-differential equations of motion to a finite-dimension system of nonlinearly coupled second-order ordinary-differential equations. We find the deflection of the microplate under DC voltage and study the pull-in phenomenon. The natural frequencies and mode shapes are then obtained around the deflected position of the microplate by solving the linear eigenvalue problem. The effect of various design parameters on both the static response and the dynamic characteristics are studied.

scholarly journals Nonlinear Dynamic Modeling and Analysis of an L-Shaped Multi-Beam Jointed Structure with Tip Mass

Materials ◽  
2021 ◽  
Vol 14 (23) ◽  
pp. 7279
Author(s):  
Jin Wei ◽  
Tao Yu ◽  
Dongping Jin ◽  
Mei Liu ◽  
Dengqing Cao ◽  
...  
Keyword(s):  
Differential Equations ◽  
Nonlinear Dynamic ◽  
Natural Frequencies ◽  
Great Influence ◽  
Dynamic Responses ◽  
Mode Shapes ◽  
Nonlinear Odes ◽  
Global Mode ◽  
Orthogonality Relations ◽  
Tip Mass

A dynamic model of an L-shaped multi-beam joint structure is presented to investigate the nonlinear dynamic behavior of the system. Firstly, the nonlinear partial differential equations (PDEs) of motion for the beams, the governing equations of the tip mass, and their matching conditions and boundary conditions are obtained. The natural frequencies and the global mode shapes of the linearized model of the system are determined, and the orthogonality relations of the global mode shapes are established. Then, the global mode shapes and their orthogonality relations are used to derive a set of nonlinear ordinary differential equations (ODEs) that govern the motion of the L-shaped multi-beam jointed structure. The accuracy of the model is verified by the comparison of the natural frequencies solved by the frequency equation and the ANSYS. Based on the nonlinear ODEs obtained in this model, the dynamic responses are worked out to investigate the effect of the tip mass and the joint on the nonlinear dynamic characteristic of the system. The results show that the inertia of the tip mass and the nonlinear stiffness of the joints have a great influence on the nonlinear response of the system.

A Generalized Component Mode Synthesis Approach for Multibody System Dynamics Leading to Constant Mass and Stiffness Matrices

2011 ◽  
Author(s):  
Johannes Gerstmayr ◽  
Astrid Pechstein
Keyword(s):  
Rigid Body ◽  
Mass Matrix ◽  
Rigid Body Motion ◽  
Component Mode Synthesis ◽  
Body Motion ◽  
Mode Shapes ◽  
Relative Deformation ◽  
Constant Mass ◽  
Constant Matrix ◽  
Flexible Deformation

A standard technique to reduce the system size of flexible multibody systems is the component mode synthesis. Selected mode shapes are used to approximate the flexible deformation of each single body numerically. Conventionally, the (small) flexible deformation is added relatively to a body-local reference frame, which results in the floating frame of reference formulation (FFRF). The coupling between large rigid body motion and small relative deformation is nonlinear, which leads to computationally expensive non-constant mass matrices and quadratic velocity vectors. In the present work, the total (absolute) displacements are directly approximated by means of mode shapes, without a splitting into rigid body motion and superimposed flexible deformation. As the main advantage of the proposed method, the mass matrix is constant, the quadratic velocity vector vanishes and the stiffness matrix is a co-rotated constant matrix. Numerical experiments show the equivalence of the proposed method to the FFRF approach.

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