Dynamic behaviors of 2-DOF axially telescopic mechanism for truss structure bridge inspection vehicle

Abstract

Dynamic behaviors of the 2-DOF axially telescopic mechanism for truss structure bridge inspection vehicle is investigated. The telescopic mechanism is a combination of one vertical beam that can move axially, one constant beam perpendicularly fixed at the end of the vertical beam and one telescopic beam that can move along the axial direction of the constant beam during work. The Euler-Bernoulli beam theory is utilized to simplify the beams. The Lagrangian description is adopted to account for the coordinate for the telescopic mechanism. The equations of motion are derived using the Hamilton’s principle and decomposed into a set of ordinary differential equations by employing the Galerkin’s method. The eigenfunctions are acquired based on the boundary conditions by adopting the dichotomy method. The solutions to the equations are acquired using the Newmark-β method. Experiments are carried out to prove the validity of the theoretical model. Numerical examples are simulated to explore whether the vertical beam and telescopic beam can extend or retract synchronously and obtain appropriate beam moving strategy. The results prove that synchronous motion of the vertical beam and telescopic beam will not always lead to pronounced stronger vibration than the separate ones. On the other hand, the beam moving strategies that the telescopic beam moving before the vertical beam when they all extend out or retract back and moving after the vertical beam when one extends out and the other retracts back will effectively reduce the vibration compared with otherwise