K. Ragulskis, B. Spruogis, M. Bogdevičius, A. Matuliauskas, V. Mištinas, L. Ragulskis
{"title":"具有非线性元件相互作用的管道机器人动力学研究","authors":"K. Ragulskis, B. Spruogis, M. Bogdevičius, A. Matuliauskas, V. Mištinas, L. Ragulskis","doi":"10.5755/j02.mech.30467","DOIUrl":null,"url":null,"abstract":"Systems in which vibrational displacements are limited because elastic forces increase practically up to unlimited values, are investigated. Here systems having one degree of freedom are investigated in which vibrations have specific qualities for the case of conservative systems as well as for the case of forced harmonic excitations. Typical expressions for nonlinear stiffness are proposed. Model of a pipe robot with limited values of displacements is presented and investigated. The model has two degrees of freedom: the displacement of the vibrating mass inside the pipe robot and the displacement of the pipe robot itself. Motion of the pipe robot in the negative direction as well as motion of the pipe robot in the positive direction for different parameters of the system is observed. For high amplitude of excitation, the distance travelled by the pipe robot is much greater than for low amplitude of excitation. The obtained results are used in the process of design of pipe robots.","PeriodicalId":54741,"journal":{"name":"Mechanika","volume":" ","pages":""},"PeriodicalIF":0.6000,"publicationDate":"2022-10-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":"{\"title\":\"Investigation of Dynamics of a Pipe Robot with Nonlinear Interactions of Its Elements\",\"authors\":\"K. Ragulskis, B. Spruogis, M. Bogdevičius, A. Matuliauskas, V. Mištinas, L. Ragulskis\",\"doi\":\"10.5755/j02.mech.30467\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"Systems in which vibrational displacements are limited because elastic forces increase practically up to unlimited values, are investigated. Here systems having one degree of freedom are investigated in which vibrations have specific qualities for the case of conservative systems as well as for the case of forced harmonic excitations. Typical expressions for nonlinear stiffness are proposed. Model of a pipe robot with limited values of displacements is presented and investigated. The model has two degrees of freedom: the displacement of the vibrating mass inside the pipe robot and the displacement of the pipe robot itself. Motion of the pipe robot in the negative direction as well as motion of the pipe robot in the positive direction for different parameters of the system is observed. For high amplitude of excitation, the distance travelled by the pipe robot is much greater than for low amplitude of excitation. The obtained results are used in the process of design of pipe robots.\",\"PeriodicalId\":54741,\"journal\":{\"name\":\"Mechanika\",\"volume\":\" \",\"pages\":\"\"},\"PeriodicalIF\":0.6000,\"publicationDate\":\"2022-10-21\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"0\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"Mechanika\",\"FirstCategoryId\":\"5\",\"ListUrlMain\":\"https://doi.org/10.5755/j02.mech.30467\",\"RegionNum\":4,\"RegionCategory\":\"工程技术\",\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"Q4\",\"JCRName\":\"MECHANICS\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"Mechanika","FirstCategoryId":"5","ListUrlMain":"https://doi.org/10.5755/j02.mech.30467","RegionNum":4,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q4","JCRName":"MECHANICS","Score":null,"Total":0}
Investigation of Dynamics of a Pipe Robot with Nonlinear Interactions of Its Elements
Systems in which vibrational displacements are limited because elastic forces increase practically up to unlimited values, are investigated. Here systems having one degree of freedom are investigated in which vibrations have specific qualities for the case of conservative systems as well as for the case of forced harmonic excitations. Typical expressions for nonlinear stiffness are proposed. Model of a pipe robot with limited values of displacements is presented and investigated. The model has two degrees of freedom: the displacement of the vibrating mass inside the pipe robot and the displacement of the pipe robot itself. Motion of the pipe robot in the negative direction as well as motion of the pipe robot in the positive direction for different parameters of the system is observed. For high amplitude of excitation, the distance travelled by the pipe robot is much greater than for low amplitude of excitation. The obtained results are used in the process of design of pipe robots.
期刊介绍:
The journal is publishing scientific papers dealing with the following problems:
Mechanics of Solid Bodies;
Mechanics of Fluids and Gases;
Dynamics of Mechanical Systems;
Design and Optimization of Mechanical Systems;
Mechanical Technologies.