Free vibration analysis of a robotic fish based on a continuous and non-uniform flexible backbone with distributed masses

Autor: Coral Cuellar, William Hernan, Rossi, Claudio, Saltaren Pazmiño, Roque Jacinto, Curet, Oscar M., Barrientos Cruz, Antonio
Rok vydání: 2015
Předmět:
Zdroj: The European Physical Journal-Special Topics, ISSN 1951-6355, 2015-12, Vol. 224, No. 17
Archivo Digital UPM
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ISSN: 1951-6401
1951-6355
Popis: This paper presents a differential quadrature element method for free transverse vibration of a robotic-fish based on a continuous and non-uniform flexible backbone with distributed masses (represented by ribs) based in the theory of a Timoshenko cantilever beam. The effects of the masses (Number, Magnitud and position) on the value of natural frequencies are investigated. Governing equations, compatibility and boundary conditions are formulated according to the Differential Quadrature rules. The compatibility conditions at the position of each distributed mass are assumed as the continuity in the vertical displacement, rotation and bending moment and discontinuity in the transverse force due to acceleration of the distributed mass. The convergence, efficiency and accuracy are compared to other analytical solutions proposed in the literature. Moreover, the proposed method has been validate against the physical prototype of a flexible fish backbone. The main advantages of this method, compared to the exact solutions available in the literature are twofold: first, smaller time-cost and second, it allows analysing the free vibration in beams whose section is an arbitrary function, which is normally difficult or even impossible with analytical other methods.
Databáze: OpenAIRE
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