Large deflections and vibrations of a tip pulled beam with variable transversal section

• Published in: Mechanical systems and signal processing 2016-10, Vol.79, p.271-288
• Main Authors: Kurka, P., Izuka, J., Gonzalez, P., Teixeira, L.H.
• Format: Article
• Language: English
• Subjects: Active control; Cross sections; Deflection; Dynamic characteristics; Dynamic models; Exploration; Finite Element Method; Flexible beams with variable cross sections; Mathematical models; Vibration; Vibration of Guyed Beams
• ISSN: 0888-3270; 1096-1216
• DOI: 10.1016/j.ymssp.2016.02.038

The use of long flexible probes in outdoors exploration vehicles, as opposed to short and rigid arms, is a convenient way to grant easier access to regions of scientific interest such as terrain slopes and cliff sides. Longer and taller arms can also provide information from a wider exploration horizon. The drawback of employing long and flexible exploration probes is the fact that its vibration is not easily controlled in real time operation by means of a simple analytic linear dynamic model. The numerical model required to describe the dynamics of a very long and flexible structure is often very large and of slow computational convergence. The present work proposes a simplified numerical model of a long flexible beam with variable cross section, which is statically deflected by a pulling cable. The paper compares the proposed simplified model with experimental data regarding the static and dynamic characteristics of a beam with variable cross section. The simulations show the effectiveness of the simplified dynamic model employed in an active control loop to suppress tip vibrations of the beam. •Proposal of an adaptive dynamic model of a long flexible beam.•Control of vibrations of a long flexible beam with a tip pulling cable.•Experimental verification of the proposed dynamic model of the beam.