Passive locomotion via normal-mode coupling in a submerged spring–mass system
نویسندگان
چکیده
The oscillations of a class of submerged mass–spring systems are examined. An inviscid fluid model is employed to show that the hydrodynamic effects couple the normal modes of these systems. This coupling of normal modes can excite the displacement mode – yielding passive locomotion of the system – even when starting with zero displacement velocity. This is in contrast with the fact that under similar initial conditions but without the hydrodynamic coupling, such systems cannot achieve a net displacement. These ideas are illustrated via two examples of a two-mass and a three-mass system.
منابع مشابه
Using the Adaptive Frequency Nonlinear Oscillator for Earning an Energy Efficient Motion Pattern in a Leg- Like Stretchable Pendulum by Exploiting the Resonant Mode
In this paper we investigate a biological framework to generate and adapt a motion pattern so that can be energy efficient. In fact, the motion pattern in legged animals and human emerges among interaction between a central pattern generator neural network called CPG and the musculoskeletal system. Here, we model this neuro - musculoskeletal system by means of a leg - like mechanical system cal...
متن کاملIdentification of Nonlinear Modal Interactions in a Beam-Mass-Spring-Damper System based on Mono-Frequency Vibration Response
In this paper, nonlinear modal interactions caused by one-to-three internal resonance in a beam-mass-spring-damper system are investigated based on nonlinear system identification. For this purpose, the equations governing the transverse vibrations of the beam and mass are analyzed via the multiple scale method and the vibration response of the system under primary resonance is extracted. Then,...
متن کاملFree Vibration Analysis of a Six-degree-of-freedom Mass-spring System Suitable for Dynamic Vibration Absorbing of Space Frames
This study is concentrated on the natural frequencies and mode shapes of a simple three-member space frame coupled with a dynamic vibration absorber. The dynamic vibration absorber is modeled as a six-degree-of-freedom mass-spring system. For the first time, the free vibration of an elastic structure with a six-degree-of-freedom mass-spring system is found. Each member of the space frame has un...
متن کاملPassive Controller Design for Swing Phase of a Single Axis Above-Knee Prosthesis
In this research we design a passive controller for an above knee prosthesis. The controller is a linear spring and damper for swing phase motion, parameters of which determined via optimization of adjustment of the prosthesis shank motion with a desired shank angle trajectory comes from experimental data. In this way, we exerted a certain thigh motion, hip movement included, into the system as...
متن کاملAnalysis of an Actuated Two Segment Leg Model of Locomotion
Rao, Nikhil V. M.S.M.E, Purdue University, December 2013. Analysis of an Actuated Two Segment Leg Model of Locomotion. Major Professor: Dr. Justin E. Seipel, School of Mechanical Engineering. Research studies on dynamic models of legged locomotion have generally focused on telescoping-type leg models. Such telescoping spring loaded inverted pendulum (SLIP) models have been able to accurately pr...
متن کامل