INVESTIGATION OF DYNAMICS OF A SYSTEM WITH TWO SIDED IMPACTS

Kazimieras RAGULSKIS; Arvydas  PAULIUKAS; Algimantas  BUBULIS; Petras  PAŠKEVIČIUS; Rimas  MASKELIŪNAS; Liutauras  RAGULSKIS

doi:10.36910/automash.v1i18.757

Kazimieras RAGULSKIS Member of Academies of Sciences of the USSR (later of the Russian Academy of Sciences) and Lithuania, Professor, Habilitated Doctor, Kaunas University of Technology, Kaunas, Lithuania
Arvydas PAULIUKAS Doctor, Vytautas Magnus University, Akademija, Kaunas District, Lithuania
Algimantas BUBULIS Professor, Habilitated Doctor, Kaunas University of Technology, Mechatronics Institute, Kaunas, Lithuania
Petras PAŠKEVIČIUS Doctor, Company “Vaivora”, Kaunas, Lithuania
Rimas MASKELIŪNAS Professor, Habilitated Doctor, Vilnius Gediminas Technical University, Vilnius, Lithuania
Liutauras RAGULSKIS Doctor, Vytautas Magnus University, Kaunas, Lithuania

DOI: https://doi.org/10.36910/automash.v1i18.757

Abstract

In the elements of manipulators and robots, various types of impact interactions take place. Among them two sided impacts are often observed. For their investigation a special numerical procedure is proposed. Numerical results for typical parameters of the investigated system having one degree of freedom are presented. Results without application of this procedure and with it are presented and mutually compared.

Results for various values of coefficient of viscous damping and of coefficient of restitution were obtained. They are presented for three typical sets of those parameters. The first set of typical values of parameters describe the motion of the investigated system with two sided impacts corresponding to the case of conservative impacts. The second set of typical values of parameters describe the motion of the investigated system with two sided impacts corresponding to the case of conservative inter impact motions. The third set of typical values of parameters describe the motion of the investigated system with two sided impacts corresponding to the case of fully dissipative dynamics.

Time history of displacement, time history of velocity and dynamics of the system with two sided impacts in the phase plane are represented. The obtained graphical representations show the advantages of the improved calculation of impact interactions.

The results are applied in the design of elements of manipulators and robots with two sided impacts.

Keywords: nonlinearity of impact type, harmonic excitation, two sided impacts, nonlinear transient processes, graphical representations.