具有非线性元件相互作用的管道机器人动力学研究

IF 0.6 4区 工程技术 Q4 MECHANICS Mechanika Pub Date : 2022-10-21 DOI:10.5755/j02.mech.30467
K. Ragulskis, B. Spruogis, M. Bogdevičius, A. Matuliauskas, V. Mištinas, L. Ragulskis
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引用次数: 0

摘要

研究了由于弹性力实际上增加到无限值而使振动位移受到限制的系统。这里研究了具有一个自由度的系统,其中振动对于保守系统的情况以及对于强迫谐波激励的情况具有特定的性质。提出了非线性刚度的典型表达式。提出并研究了具有有限位移值的管道机器人模型。该模型有两个自由度:管道机器人内部振动质量的位移和管道机器人本身的位移。针对系统的不同参数,观察了管道机器人在负方向上的运动以及管道机器人在正方向上的移动。对于高振幅激励,管道机器人行进的距离远大于低振幅激励。所得结果可用于管道机器人的设计过程。
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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.
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来源期刊
Mechanika
Mechanika 物理-力学
CiteScore
1.30
自引率
0.00%
发文量
50
审稿时长
3 months
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.
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