Grzegorz Kudra

This study investigates a detailed analytical and numerical investigation of a nonlinear two-degree-of-freedom (2DOF) mechanical oscillator subjected to parametric excitation, magnetic stiffness nonlinearities, and dry friction. The considered system consists of two coupled oscillators, both of which are connected to a rotating rectangular beam that induces a time-periodic stiffness variation. The Complex Averaging (CxA) method is employed to derive approximate analytical solutions, which are thoroughly validated through time-domain simulations and bifurcation analyses. The dynamic analysis reveals a rich spectrum of nonlinear behaviors, including periodic, quasi-periodic, and chaotic responses. Detailed bifurcation diagrams, Lyapunov exponent analysis, and Poincaré maps demonstrate the influence of nonlinear stiffness degree, mass symmetry, and frictional effects on system stability and response amplitude. The obtained results give a significant understanding of the dynamic behavior of coupled nonlinear systems and establish a conceptual framework for the development of complex vibration abatement strategies, energy harvesting devices, and advanced mechanical systems.

This paper presents mathematical modeling and numerical analysis of bifurcation and synchronization phenomena in a system of coupled oscillators driven by a finite-power energy source and generating two-dimensional stick-slip translational-rotational vibrations. The mechanical system consists of rigid disks placed on moving belts and asymmetrically connected to a support via springs, with each disk simultaneously performing translational and rotational motion. The belts are driven by a common DC motor. The disk contacts the belt over a finite contact area, resulting in mutually coupled frictional force and torque through their dependence on the linear and angular slip velocity. The paper utilizes special approximations of the resultant frictional forces and torques based on generalizations of Padé's developements, in which special smoothing elements are introduced to avoid singularities when the relative motion between the disk and belt disappears. Furthermore, the model also provides a smooth approximation of the friction model, in which static friction is greater than kinetic friction. Numerical analysis was conducted based on direct numerical simulations, Poincare maps, and bifurcation diagrams. It was shown that the system can exhibit a two-dimensional stick-slip phenomenon, and the system exhibits predominantly periodic dynamics, sometimes with a very long period. In this work, a system of two oscillators driven by a common, limited-power motor was studied, which can synchronize and oscillate in phase or in counterphase.

Shear-thickening fluids (STFs) become more viscous under shear stress, which makes them useful for many engineering and scientific applications. However, their behavior under normal forces, especially when these forces are applied harmonically, is less understood. Here, we examine the dynamic response of STFs under harmonic excitation. Our experimental setup features an unbalanced rotor attached to a vibrating plate submerged in an STF-filled container. We monitored the rotor's speed, the system's displacement, and the STF force. Data from experiments without STF were used to identify system parameters, and measurements of the STF force revealed the dynamic nature of the STF force. By comparing responses with and without STF, we identified three regions of behavior: in the pre-resonance region, the STF force is negligible; at resonance, it acts as a significant damping force; and in the post-resonance region, it behaves like an on-off force. Overall, the STF effectively reduces resonance amplitudes. These results can inform the design of complex structures incorporating STFs.

Nonlinear dynamics of fluid conveying pipe, rotating with constant velocity about its longitudinal axis is analyzed. Considering boundary conditions and internal damping, the nonlinear equation of motion is derived, and it is discretized via the Galerkin method. Afterward, the stability of the system is investigated by characterizing the eigenvalues under the action of two control parameters: rotational speed and flow velocity. Then using direct numerical simulation, instability and stability regions are distinguished in a map as the control parameters vary. It is shown that due to the presence of internal damping in the system, both rotational speed and flow velocity determine the critical speeds. Post-instability behavior is characterized by non-zero equilibrium points, representing deflection in the rotating frame, which correspond to forward whirling motion in the inertial frame. Finally, Hencky Bar-chain Model was employed to verify the results.

Some robots are designed to be lightweight and flexible, enabling them to access small and challenging paths in various applications. These features enable robots to collaborate with humans in performing specific production tasks. However,the movement of the flexible manipulator can become self-excited when handling a cutting tool on a workpiece, which can lead to a control problem. This article presents a control solution for lightweight robotic manipulators with rotating tools, such as polishing and milling, using smart actuators. The control discretization method is also introduced to facilitate integration into digital controllers. The paper starts by describing the governing equations of the non-ideal flexible manipulator for polishing and milling and analysing its dynamic behavior. Subsequently, models for the controllers of the DC motor-only actuators and the hybrid (shape memory alloy and DC motors) actuators were formulated using shape memory alloy and a suboptimal control scheme known as the discrete state-dependent Riccati equation. The coupled system was analysed dynamically, and it was observed that it exhibits chaotic behavior. The results suggest that incorporating smart actuators into the motor group of the system could decrease the positioning error of the manipulator and significantly reduce the oscillation of the robot’s end-effector.