Investigation of motion of a mobile two-mass vibration-driven system

Sapronov, K. A.; Черепанов, А. А.; Yatsun, S. F.

doi:10.1134/s1064230710010156

Cited by 13 publications

(4 citation statements)

References 4 publications

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“…The detailed investigations of various types of vibratory robots are presented in the works [4][5][6][7][8]. Each design of vibratory robot was described by the corresponding mathematical model taking into account different characteristics of elastic elements (linear, piecewise linear, nonlinear) and of the electromagnet drive (single-cycle, double-cycle).…”

Section: Review Of Modern Information Sources On the Subject Of The Pmentioning

confidence: 99%

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Dynamics of two-mass mobile vibratory robot with electromagnetic drive and vibro-impact operation mode

Korendiy¹

2018

Ukr. j. mech. eng. mater. sci.

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The purpose of research. Substantiation of inertial, stiffness and excitation parameters of mechanical oscillatory system of mobile vibratory robot in order to maximize its motion speed. Methodology. The technique of the research is based on fundamental concepts of engineering mechanics and theory of mechanical vibrations. In order to deduce the differential equations of motion of the mechanical system of mobile vibratory robot the Lagrange second order equations were used. The computation modelling of the system's motion caused by periodic excitation forces was carried out using MathCAD software. Results. The design diagram (model) of the two-mass mobile vibratory system with electromagnetic drive was constructed. The mathematical model of its motion was developed and the parameters of the resonance vibro-impact mode of its operation were substantiated. The steady-state and transient conditions of operation of the system under the influence of periodic excitation force of various magnitude were investigated. Scientific novelty. The structure of mobile vibratory device designed on the basis of two-mass oscillatory system with vibro-impact operation mode was substantiated. The differential equations of motion of the proposed system were set up taking into account the nonlinear stiffness characteristic of the elastic element connecting two oscillating bodies. The influence of the system's excitation parameters on its motion speed was analysed. This allows to substantiate the rational magnitude and frequency of the excitation force. Practical value. The results of the carried-out investigations can be used while designing and developing control systems of mobile vibratory transporting and robotic devices in order to ensure the possibility of changing the speed of their motion without changing the inertial and stiffness parameters of their mechanical oscillating systems. Scopes of further investigations. While carrying out further investigations it is necessary to study the possibility of changing the nonlinearity of stiffness characteristic of the elastic element in order to change the kinematic parameters of the system's motion. In addition, it is necessary to substantiate the mechanisms of changing the direction of motion of mobile vibratory robot.

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Section: Review Of Modern Information Sources On the Subject Of The Pmentioning

confidence: 99%

“…It is very difficult to analytically solve the obtained system of differential equations (8). That is why, in further stages of our research, let us use the numerical methods implemented in applied computer software, in particular, in MathCAD.…”

Section: Developing the Mathematical Model Of The Robot's Motionmentioning

confidence: 99%

Dynamics of two-mass mobile vibratory robot with electromagnetic drive and vibro-impact operation mode

Korendiy¹

2018

Ukr. j. mech. eng. mater. sci.

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“…The electric drive of the horizontal looper is a multimass system that cannot be reduced to a two-mass system [8,15,16]. When analyzing the electric drive system of a horizontal looper, it is necessary to take into account changing the rigidity of the strip as a distributed mechanical system with decreasing or increasing its length in the drive.…”

Section: Developing the Modelmentioning

confidence: 99%

Developing a Mathematical Model of a Horizontal Looper Taking into Account the Features of a Steel Strip

Kuntush¹,

Брейдо²,

Zyuzev³

2018

EAI Endorsed Transactions on Energy Web

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Modern cold rolling mills include devices that form a reserve of strip to ensure the continuous operation of the line. Such devices include a horizontal looper containing a direct current drive. The disadvantage of the existing horizontal looper is significant oscillations of the metal strip in the process of its filling, with the maximum amplitude of oscillations occurring when the strip is completely filled. To study the oscillatory processes in the strip, a model of an electromechanical system has been developed. The necessity of taking into account mechanical properties of the steel strip in the development of a model of an electromechanical system has been substantiated. Mathematical and simulation models of a horizontal looper were developed in two extreme positions. The simulation models have been implemented in the MatLab software package. The results of simulation studies showed satisfactory convergence of the experiments with the physical process.

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“…This principle was first time proposed and analyzed by Pavlovskaia et al [15]. Many studies have been made, using various types of the actuators, such as using a solenoid driven by an RLC circuit [16,17], electromagnetic device [18,19], linear motors [20], electro-dynamic shaker [21,22]. The expected direction of the system motion can be obtained by applying a position feedback controller [23] or reversing the impact side [24].…”

Section: Introductionmentioning

confidence: 99%

A comparative study on the two vibration driven locomotion systems in various friction levels

Nguyen

2021

Vietnam J. Mech.

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This paper presented comparison results of two locomotion models: a pure-vibration driven and a vibro-impact driven system. In experiments, the friction force can be varied without changing the internal and the body masses. The mathematical models of the two systems were developed and experimentally verified. Using dimensionless models, the results can be expanded to other sizes in practice. The two models were compared in the following aspects: the progression rate, the motion direction and the dynamics response. The effect of friction as an important variable on the dynamic response of the two scaled models were examined and compared by means of bifurcation analysis and basin of attraction. It has been found that, the pure-vibration can provide forward motion better than the vibro-impact does. The highest progression rate of the vibro-impact was less than that of the pure-vibration system in the investigated ranges of input parameters. Besides, the pure-vibration always has period-1 motion, whereas the vibro-impact system has a rich and complex dynamic response, including period-1, period-2 as well as chaotic motions. The results obtained would be useful for design and operating the self-propelled locomotion systems.

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Investigation of motion of a mobile two-mass vibration-driven system

Cited by 13 publications

References 4 publications

Dynamics of two-mass mobile vibratory robot with electromagnetic drive and vibro-impact operation mode

Dynamics of two-mass mobile vibratory robot with electromagnetic drive and vibro-impact operation mode

Developing a Mathematical Model of a Horizontal Looper Taking into Account the Features of a Steel Strip

A comparative study on the two vibration driven locomotion systems in various friction levels

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