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Impact of Viscoelastic Hinged Dampers on Formation of the Stress State of Mobile Machine Manipulators


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DOI: https://doi.org/10.15866/iremos.v12i2.16185

Abstract


This research aims the influence analysis of the resistance forces created by viscoelastic dampers in the cylindrical hinges of the manipulators of the transport and technological machines, as well as to the effectiveness of oscillation damping of the metal structure during operation. The construction of the hinged dampers that has been designed by the authors is original. The mathematical model of joint operation of the cylindrical hinge with an excessive backlash and viscoelastic damper has been formed in the article. It is shown that the determinative role of viscous resistance forces involves irreversible energy dissipation of the oscillating rotary movement of the neighboring manipulator links due to oscillating displacement of the hinge pin within the backlash limits in the hinge until the oscillations fade completely. The quantitative analysis of the effectiveness of reducing impact load of the metal structure is performed; moreover the dependence correlations of dynamic process characteristics and engineering factors of the hinged dampers have been determined. Depending on the correlation between stiffness and viscosity of the damper, the effect of viscous resistance forces may not practically occur; it may lead to intensive damping of oscillatory displacement of the hinge pin within the clearance limits. In the latter case, the oscillation process becomes aperiodic with practically complete fading within one oscillation of the hinge pin.
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Keywords


Cylindrical Hinge; Backlash; Impact Load; Damping; Viscous Resistance; Stress State

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