Interaction of vibrating and translational motions

The mathematical model describing the interaction of a vibrating system and a system performing translational motion is proposed. Such motions take place in vibromotors. The main characteristics of the dynamic motion are defined. The model is investigated numerically and a number of graphical relationships are obtained. They are used in the process of design of systems with vibromotors like a walking inpipe robot

Investigation of dynamics of fluid in the elements of a pipe robot

The dynamics of fluid in the elements of a pipe robot is investigated in this paper. Plane vibrations of ideal compressible fluid are analyzed by taking account the constraint of non-rotation by means of the penalty method. Reduced order numerical integration of the penalty term is performed. Graphical representation of rotations at the points of reduced integration is proposed for validation of the calculated eigenmodes. Fluid flow through different cross sections of nano-holes in metal sheets separating different compartments of a pipe robot is important in the design of a pipe robot. Calculation of the mass flow rate is necessary when performing the comparison of different cross-sections. A two-dimensional model performing the discretization of the cross-section is used for the solution of this problem. The obtained results are used in the process of design of a pipe robo

Interaction of vibrating and translational motions

The mathematical model describing the interaction of a vibrating system and a system performing translational motion is proposed. Such motions take place in vibromotors. The main characteristics of the dynamic motion are defined. The model is investigated numerically and a number of graphical relationships are obtained. They are used in the process of design of systems with vibromotors like a walking inpipe robot

Investigation of dynamics of fluid in the elements of a pipe robot

The dynamics of fluid in the elements of a pipe robot is investigated in this paper. Plane vibrations of ideal compressible fluid are analyzed by taking account the constraint of non-rotation by means of the penalty method. Reduced order numerical integration of the penalty term is performed. Graphical representation of rotations at the points of reduced integration is proposed for validation of the calculated eigenmodes. Fluid flow through different cross sections of nano-holes in metal sheets separating different compartments of a pipe robot is important in the design of a pipe robot. Calculation of the mass flow rate is necessary when performing the comparison of different cross-sections. A two-dimensional model performing the discretization of the cross-section is used for the solution of this problem. The obtained results are used in the process of design of a pipe robo

Interaction of vibrating and translational motions

The mathematical model describing the interaction of a vibrating system and a system performing translational motion is proposed. Such motions take place in vibromotors. The main characteristics of the dynamic motion are defined. The model is investigated numerically and a number of graphical relationships are obtained. They are used in the process of design of systems with vibromotors like a walking inpipe robot

Dynamic of pneumatic and hydraulic transport technological equipment

In the article the classification of inpipe robots is presented, their advantages and imperfections are reviewed. The schemes of the construction of the wall press walking inpipe robot with a pneumatic drive and an inpipe robot with a vibratory pneumatic drive are given. The analysis of the identification method of leaks occurring due to damages of the linear part of the main oil pipelines is carried out. The momentum and continuity equations of viscous compressible fluid in a pressure pipeline are presented. Differential equations of fluid movement in the oil pipeline are solved by the method of characteristics. Variation diagrams of pressure and velocity of fluid in a leaking oil pipeline are presented. The impulsive extinguishing systems are presented

Dynamics of a two mass pipe robot with the self-stopping mechanism based on viscous friction

A model having two degrees of freedom and incorporating a specific type of nonlinearity is proposed for the analysis of dynamics of a pipe robot. Specific type of nonlinearity has different values of viscous friction depending on the sign of velocity of the system. Numerical investigations for various parameters of the system are presented. Optimal frequency of excitation of a pipe robot is determined. The obtained results are used in the process of design of pipe robots: it is especially important to choose the frequency of excitation in order to ensure effective operation of a pipe robotKauno technologijos universitetasSistemų analizės katedraVilniaus Gedimino technikos universitetasVytauto Didžiojo universiteta