Investigation of Soft Impacts in Elements of Pipe Robots

Vibrators with deformable impact support under harmonic excitation are especially useful in the case when their stationary regimes of motion stable. This is practice by applying those vibrators to single direction manipulators and various robots space type.
 For practical application it necessary reveal dynamical qualities system from where would be possible determine optimal regimes. this purpose investigations dynamics numerical methods were performed.
 Investigation interactions elements an important engineering problem. Dynamics soft impacts investigated. The model investigated described. Numerical for parameters performed. Free forced vibrations investigated.
 From presented results can noted that smaller values coefficient stiffness period steady state coincides exciting force, while higher equal two periods force. Thus concluded increase behavior vibro experiences essential changes.
 Main characteristics as functions frequency minimum maximum inter intervals excitation, velocities before displacements seen. Three resonant zones expected valued motions observed results. They correspond regions operation impacts.
 Results performed analysis dynamic used process design pipe advanced type.