Nonlinear dynamic modeling of planar moving Timoshenko beam considering non-rigid non-elastic axial effects

Due to the importance of vibration effects on the functional accuracy of mechanical systems,this research aims to develop a precise model of a nonlinearly vibrating single-link mobile flexible manipulator.The manipulator consists of an elastic arm,a rotary motor,and a rigid carrier,and undergoes general in-plane rigid body motion along with elastic transverse deformation.To accurately model the elastic behavior,Timoshenko’s beam theory is used to describe the flexible arm,which accounts for rotary inertia and shear deformation effects.By applying Newton’s second law,the nonlinear governing equations of motion for the manipulator are derived as a coupled system of ordinary differential equations(ODEs)and partial differential equations(PDEs).Then,the assumed mode method(AMM)is used to solve this nonlinear system of governing equations with appropriate shape functions.The assumed modes can be obtained after solving the characteristic equation of a Timoshenko beam with clamped boundary conditions at one end and an attached mass/inertia at the other.In addition,the effect of the transverse vibration of the inextensible arm on its axial behavior is investigated.Despite the axial rigidity,the effect makes the rigid body dynamics invalid for the axial behavior of the arm.Finally,numerical simulations are conducted to evaluate the performance of the developed model,and the results are compared with those obtained by the finite element approach.The comparison confirms the validity of the proposed dynamic model for the system.According to the mentioned features,this model can be reliable for investigating the system’s vibrational behavior and implementing vibration control algorithms.

Bending of Timoshenko beam with effect of crack gap based on equivalent spring model

Considering the effect of crack gap,the bending deformation of the Timoshenko beam with switching cracks is studied.To represent a crack with gap as a nonlinear unidirectional rotational spring,the equivalent flexural rigidity of the cracked beam is derived with the generalized Dirac delta function.A closed-form general solution is obtained for bending of a Timoshenko beam with an arbitrary number of switching cracks.Three examples of bending of the Timoshenko beam are presented.The influence of the beam’s slenderness ratio,the crack’s depth,and the external load on the crack state and bending performances of the cracked beam is analyzed.It is revealed that a cusp exists on the deflection curve,and a jump on the rotation angle curve occurs at a crack location.The relation between the beam’s deflection and load is bilinear,each part corresponding to an open or closed state of crack,respectively.When the crack is open,flexibility of the cracked beam decreases with the increase of the beam’s slenderness ratio and the decrease of the crack depth.The results are useful in identifying non-destructive cracks on a beam.

Nonlinear dynamics of axially moving viscoelastic Timoshenko beam under parametric and external excitations

This investigation focuses on the nonlinear dynamic behaviors in the transverse vibration of an axially accelerating viscoelastic Timoshenko beam with the external harmonic excitation. The parametric excitation is caused by the harmonic fluctuations of the axial moving speed. An integro-partial-differential equation governing the transverse vibration of the Timoshenko beam is established. Many factors are considered, such as viscoelasticity, the finite axial support rigidity, and the longitudinally varying tension due to the axial acceleration. With the Galerkin truncation method, a set of nonlinear ordinary differential equations are derived by discretizing the governing equation. Based on the numerical solutions, the bifurcation diagrams are presented to study the effect of the external transverse excitation. Moreover, the frequencies of the two excitations are assumed to be multiple. Further, five different tools, including the time history, the Poincar′e map, and the sensitivity to initial conditions, are used to identify the motion form of the nonlinear vibration. Numerical results also show the characteristics of the quasiperiodic motion of the translating Timoshenko beam under an incommensurable relationship between the dual-frequency excitations.

Surface and thermal effects on vibration of embedded alumina nanobeams based on novel Timoshenko beam model

This paper deals with the free vibration analysis of circular alumina(Al2O3)nanobeams in the presence of surface and thermal effects resting on a Pasternak foundation. The system of motion equations is derived using Hamilton's principle under the assumptions of the classical Timoshenko beam theory. The effects of the transverse shear deformation and rotary inertia are also considered within the framework of the mentioned theory. The separation of variables approach is employed to discretize the governing equations which are then solved by an analytical method to obtain the natural frequencies of the alumina nanobeams. The results show that the surface effects lead to an increase in the natural frequency of nanobeams as compared with the classical Timoshenko beam model. In addition, for nanobeams with large diameters, the surface effects may increase the natural frequencies by increasing the thermal effects. Moreover, with regard to the Pasternak elastic foundation, the natural frequencies are increased slightly. The results of the present model are compared with the literature, showing that the present model can capture correctly the surface effects in thermal vibration of nanobeams.

Dynamic response of axially moving Timoshenko beams: integral transform solution

The generalized integral transform technique(GITT) is used to find a semianalytical numerical solution for dynamic response of an axially moving Timoshenko beam with clamped-clamped and simply-supported boundary conditions, respectively. The implementation of GITT approach for analyzing the forced vibration equation eliminates the space variable and leads to systems of second-order ordinary differential equations(ODEs) in time. The MATHEMATICA built-in function, NDSolve, is used to numerically solve the resulting transformed ODE system. The good convergence behavior of the suggested eigenfunction expansions is demonstrated for calculating the transverse deflection and the angle of rotation of the beam cross-section. Moreover, parametric studies are performed to analyze the effects of the axially moving speed, the axial tension, and the amplitude of external distributed force on the vibration amplitude of axially moving Timoshenko beams.

Nonlinear flexural waves and chaos behavior in finite-deflection Timoshenko beam

Based on the Timoshenko beam theory, the finite-deflection and the axial inertia are taken into account, and the nonlinear partial differential equations for flexural waves in a beam are derived. Using the traveling wave method and integration skills, the nonlinear partial differential equations can be converted into an ordinary differential equation. The qualitative analysis indicates that the corresponding dynamic system has a heteroclinic orbit under a certain condition. An exact periodic solution of the nonlinear wave equation is obtained using the Jacobi elliptic function expansion. When the modulus of the Jacobi elliptic function tends to one in the degenerate case, a shock wave solution is given. The small perturbations are further introduced, arising from the damping and the external load to an original Hamilton system, and the threshold condition of the existence of the transverse heteroclinic point is obtained using Melnikov's method. It is shown that the perturbed system has a chaotic property under the Smale horseshoe transform.

Analysis-Aware Modelling of Spacial Curve for Isogeometric Analysis of Timoshenko Beam

Geometric fitting based on discrete points to establish curve structures is an important problem in numerical modeling.The purpose of this paper is to investigate the geometric fitting method for curved beam structure from points,and to get high-quality parametric model for isogeometric analysis.ATimoshenko beam element is established for an initially curved spacial beam with arbitrary curvature.The approximation and interpolation methods to get parametric models of curves from given points are examined,and three strategies of parameterization,meaning the equally spaced method,the chord length method and the centripetal method are considered.The influences of the different geometric approximation algorithms on the precision of isogeometric analysis are examined.The static analysis and the modal analysis with the established parametric models are carried out.Three examples with different complexities,the quarter arc curved beam,the Tschirnhausen beam and the Archimedes spiral beam are examined.The results show that for the geometric approximation the interpolation method performs good and maintains high precision.The fitting algorithms are able to provide parametric models for isogeometric analysis of spacial beam with Timoshenko model.The equally spaced method and centripetal method perform better than the chord length method for the algorithm to carry out the parameterization for the sampling points.

Supercritical Thermal Configurations of Axially Moving Timoshenko Beams

An exact solution for supercritical thermal configurations of axially moving Timoshenko beams with arbitrary boundary conditions is presented. The geometric nonlinearity and temperature variation of the traveling beams in supercritical regime is considered. Then, the nonlinear buckling problem is solved. A closed-form solution for the supercritical thermal configuration in terms of the axial speed,stiffness and thermal expansion is obtained.Some typical boundary conditions,such as fixed-fixed and pinnedpinned are discussed. More importantly, based on the exact solution,a new anti-symmetric thermal configuration for the fixedfixed axially moving Timoshenko beams is found.

Dynamic response to a moving load of a Timoshenko beam resting on a nonlinear viscoelastic foundation

The present paper investigates the dynamic response of finite Timoshenko beams resting on a sixparameter foundation subjected to a moving load. It is for the first time that the Galerkin method and its convergence are studied for the response of a Timoshenko beam supported by a nonlinear foundation. The nonlinear Pasternak foundation is assumed to be cubic. Therefore, the efects of the shear deformable beams and the shear deformation of foundations are considered at the same time. The Galerkin method is utilized for discretizing the nonlinear partial differential governing equations of the forced vibration. The dynamic responses of Timoshenko beams are determined via the fourth-order Runge–Kutta method. Moreover, the efects of diferent truncation terms on the dynamic responses of a Timoshenko beam resting on a complex foundation are discussed. The numerical investigations shows that the dynamic response of Timoshenko beams supported by elastic foundations needs super high-order modes. Furthermore, the system parameters are compared to determine the dependence of the convergences of the Galerkin method.

Transverse free vibration analysis of a tapered Timoshenko beam on visco-Pasternak foundations using the interpolating matrix method

The characteristics of transverse free vibration of a tapered Timoshenko beam under an axially conservative compression resting on visco-Pasternak foundations are investigated by the interpolating matrix method. The research is executed in view of a three-parameter foundation which includes the eff ects of the Winkler coeffi cient, Pasternak coeffi cient and damping coeffi cient of the elastic medium. The governing equations of free vibration of a non-prismatic Timoshenko beam under an axially conservative force resting on visco-Pasternak foundations are transformed into ordinary diff erential equations with variable coeffi cients in light of the bending rotation angle and transverse displacement. All the natural frequencies orders together with the corresponding mode shapes of the beam are calculated at the same time, and a good convergence and accuracy of the proposed method is verifi ed through two numerical examples. The infl uences of foundation mechanical characteristics together with rotary inertia and shear deformation on natural frequencies of the beam with diff erent taper ratios are analyzed. A comprehensive parametric numerical study is carried out emphasizing the primary parameters that describe the dynamic property of the beam.

Explicit frequency equations of free vibration of a nonlocal Timoshenko beam with surface effects

Considerations of nonlocal elasticity and surface effects in micro-and nanoscale beams are both important for the accurate prediction of natural frequency. In this study, the governing equation of a nonlocal Timoshenko beam with surface effects is established by taking into account three types of boundary conditions: hinged–hinged, clamped–clamped and clamped–hinged ends. For a hinged–hinged beam, an exact and explicit natural frequency equation is obtained. However, for clamped–clamped and clamped–hinged beams, the solutions of corresponding frequency equations must be determined numerically due to their transcendental nature. Hence, the Fredholm integral equation approach coupled with a curve fitting method is employed to derive the approximate fundamental frequency equations, which can predict the frequency values with high accuracy. In short,explicit frequency equations of the Timoshenko beam for three types of boundary conditions are proposed to exhibit directly the dependence of the natural frequency on the nonlocal elasticity, surface elasticity, residual surface stress, shear deformation and rotatory inertia, avoiding the complicated numerical computation.

ELASTIC IMPACT ON FINITE TIMOSHENKO BEAM

In this paper the analytical solutions of the impact of a particleon Timoshenko beams with four kinds of different boundary conditions are obtainedaccording to Navier’s idea, which is further developed. The initial values of the impactforces are exactly determined by the momentum conservation law. The propagationof the longitudinal and transverse waves along the beam, especially, the effects ofboundary conditions on the characteristics of the reflected waves, are investigated indetail. Some results are compared with those by MSC/NASTRAN.

Dynamic analysis of a rotating tapered cantilever Timoshenko beam based on the power series method

The mathematical modeling of a rotating tapered Timoshenko beam with preset and pre-twist angles is constructed. The partial differential equations governing the six degrees, i.e., three displacements in the axial, flapwise, and edgewise directions and three cross-sectional angles of torsion, flapwise bending, and edgewise bending, are obtained by the Euler angle descriptions. The power series method is then used to investigate the natural frequencies and the corresponding complex mode functions. It is found that all the natural frequencies are increased by the centrifugal stiffening except the twist frequency, which is slightly decreased. The tapering ratio increases the first transverse,torsional, and axial frequencies, while decreases the second transverse frequency. Because of the pre-twist, all the directions are gyroscopically coupled with the phase differences among the six degrees.

A fiber-section model based Timoshenko beam element using shear-bending interdependent shape function

A fiber-section model based Timoshenko beam element is proposed in this study that is founded on the nonlinear analysis of frame elements considering axial,flexural,and shear deformations.This model is achieved using a shear-bending interdependent formulation(SBIF).The shape function of the element is derived from the exact solution of the homogeneous form of the equilibrium equation for the Timoshenko deformation hypothesis.The proposed element is free from shear-locking.The sectional fiber model is constituted with a multi-axial plasticity material model,which is used to simulate the coupled shear-axial nonlinear behavior of each fiber.By imposing deformation compatibility conditions among the fibers,the sectional and elemental resisting forces are calculated.Since the SBIF shape functions are interactive with the shear-corrector factor for different shapes of sections,an iterative procedure is introduced in the nonlinear state determination of the proposed Timoshenko element.In addition,the proposed model tackles the geometric nonlinear problem by adopting a corotational coordinate transformation approach.The derivation procedure of the corotational algorithm of the SBIF Timoshenko element for nonlinear geometrical analysis is presented.Numerical examples confirm that the SBIF Timoshenko element with a fiber-section model has the same accuracy and robustness as the flexibility-based formulation.Finally,the SBIF Timoshenko element is extended and demonstratedin a three-dimensional numerical example.

Timoshenko beam model for chiral materials

Natural and artificial chiral materials such as deoxyribonucleic acid(DNA), chromatin fibers, flagellar filaments, chiral nanotubes, and chiral lattice materials widely exist. Due to the chirality of intricately helical or twisted microstructures, such materials hold great promise for use in diverse applications in smart sensors and actuators, force probes in biomedical engineering, structural elements for absorption of microwaves and elastic waves, etc. In this paper, a Timoshenko beam model for chiral materials is developed based on noncentrosymmetric micropolar elasticity theory. The governing equations and boundary conditions for a chiral beam problem are derived using the variational method and Hamilton's principle. The static bending and free vibration problem of a chiral beam are investigated using the proposed model. It is found that chirality can significantly affect the mechanical behavior of beams, making materials more flexible compared with nonchiral counterparts, inducing coupled twisting deformation, relatively larger deflection,and lower natural frequency. This study is helpful not only for understanding the mechanical behavior of chiral materials such as DNA and chromatin fibers and characterizing their mechanical properties, but also for the design of hierarchically structured chiral materials.

Quasi-static and dynamical analyses of a thermoviscoelastic Timoshenko beam using the differential quadrature method

The quasi-static and dynamic responses of a thermoviscoelastic Timoshenko beam subject to thermal loads are analyzed. First, based on the small geometric deformation assumption and Boltzmann constitutive relation, the governing equations for the beam are presented. Second, an extended differential quadrature method(DQM)in the spatial domain and a differential method in the temporal domain are combined to transform the integro-partial-differential governing equations into the ordinary differential equations. Third, the accuracy of the present discrete method is verified by elastic/viscoelastic examples, and the effects of thermal load parameters, material and geometrical parameters on the quasi-static and dynamic responses of the beam are discussed. Numerical results show that the thermal function parameter has a great effect on quasi-static and dynamic responses of the beam. Compared with the thermal relaxation time, the initial vibrational responses of the beam are more sensitive to the mechanical relaxation time of the thermoviscoelastic material.

Dynamical Behavior of Nonlinear Viscoelastic Timoshenko Beams with(Damage) on a Viscoelastic Foundation

Based on convolution-type constitutive equations for linear viscoelastic materials with damage and the hypotheses of Timoshenko beams with large deflections, the nonlinear equations governing dynamical behavior of Timoshenko beams with damage on viscoelastic foundation were firstly derived. By using the Galerkin method in spatial domain, the nonlinear integro-partial differential (equations) were transformed into a set of integro-ordinary differential equations. The numerical methods in nonlinear dynamical systems, such as the phase-trajectory diagram, Poincare section and bifurcation figure, were used to solve the simplified systems of equations. It could be seen that simplified dynamical systems possess the plenty of nonlinear dynamical properties. The influence of load and material parameters on the dynamic behavior of nonlinear system were investigated in detail.

Bending of functionally graded nanobeams incorporating surface effects based on Timoshenko beam model

The bending responses of functionally graded(FG) nanobeams with simply supported edges are investigated based on Timoshenko beam theory in this article. The Gurtin-Murdoch surface elasticity theory is adopted to analyze the influences of surface stress on bending response of FG nanobeam. The material properties are assumed to vary along the thickness of FG nanobeam in power law. The bending governing equations are derived by using the minimum total potential energy principle and explicit formulas are derived for rotation angle and deflection of nanobeams with surface effects. Illustrative examples are implemented to give the bending deformation of FG nanobeam. The influences of the aspect ratio, gradient index, and surface stress on dimensionless deflection are discussed in detail.

Numerical Approximation and Error Analysis for the Timoshenko Beam Equations with Boundary Feedback

In this paper,the numerical approximation of a Timoshenko beam with bound- ary feedback is considered.We derived a linearized three-level difference scheme on uniform meshes by the method of reduction of order for a Timoshenko beam with boundary feedback.It is proved that the scheme is uniquely solvable,unconditionally stable and second order convergent in L_∞norm by using the discrete energy method. A numerical example is presented to verify the theoretical results.

STEADY-STATE RESPONSE OF A TIMOSHENKO BEAM ON AN ELASTIC HALF-SPACE UNDER A MOVING LOAD

由介绍与一根 Timoshenko 横梁交往的有弹性的一半空间的相等的僵硬，在有弹性的 half-spacesubjected 上休息到动人的负担的横梁的排水量答案被介绍。基于thehalf空间和横梁的波浪速度的相对关系，有 half-spaceand 的不同参数的联合的四格横梁，软横梁的系统和难一半空间， 亚soft 横梁和hardhalf空间的系统， 亚hard 横梁的系统和软一半空间，并且难横梁和softhalf空间的系统被考虑。动人的负担的批评速度用分散曲线被学习。Timoshenko 横梁上的动人的负担的批评速度取决于一半空间和横梁的波浪速度的相对关系，这被发现。在一半空间的瑞利波浪速度总是是批评速度，当负担速度到达它时，系统的反应将是无限的。为软横梁和难一半空间的系统，横梁的波浪速度也是批评速度。除横梁的 shear 波浪速度以外，为亚 soft 横梁和难一半空间的系统有另外的最小的批评速度。当时为系统(潜水艇 --) 难横梁和软一半空间，横梁的波浪速度不再是批评的。有 Euler-Bernoulli 横梁的比较证明横梁的二种类型的批评速度和回答为系统是不同的(潜水艇 --) 软横梁和难一半空间但是类似于为系统的对方(潜水艇 --) 难横梁和软一半空格。横梁的最大的排水量几乎在负担的地点，如果负担速度比最小的批评速度(为软横梁和难一半空间的系统的横梁的 shear 波浪速度) 小，沿着横梁的排水量是几乎对称的。在负担和沿着横梁的排水量的不对称现象后面的横梁移动的最大的排水量由于抑制和波浪放射随负担速度的增加增加。如果负担速度比横梁和一半的最大的波浪速度大，在负担的前面的横梁的排水量是很小的空间。现在的学习的结果为 high-speedtrain 导致的地面颤动的分析提供吸引人的理论、实际的参考书。