Locomotion Dynamics in Self-Adaptive Beam-Slider System

Core Concepts

The author explores the intricate locomotion process of a self-adaptive beam-slider system, emphasizing the role of frictional and unilateral contact dynamics.

Abstract

The content delves into the locomotion dynamics of a beam-slider system, highlighting the interplay between various forces and geometric nonlinearity. The system's behavior is analyzed on different time scales, showcasing distinct forms of locomotion such as pitching cycles and sliding induced by slope and rocking accelerations. The theoretical framework presented sheds light on the complex mechanisms driving slider transport along the vibrating beam.
Key points include:

Analysis of passive self-adaption in a beam-slider system involving frictional and unilateral contact dynamics.
Examination of different forms of locomotion like pitching cycles and sliding due to slope and rocking-induced accelerations.
Exploration of theoretical models to understand slider transport along the vibrating beam.
Discussion on key parameters influencing slider movement, such as clearance ratio, pendulum length, and pitch limit.
Comparison with other non-smooth systems exhibiting similar pendular locomotion patterns.

Stats

The base acceleration already exceeds gravity acceleration (14 m/s2 > 9.81 m/s2).
The pitch limit angle between slider and beam is approximately 0.29 degrees.
Horizontal transport per pitching cycle is estimated to be 7.5 x 10^-5 times the beam length.

Quotes

Key Insights Distilled From

On the locomotion of the slider within a self-adaptive beam-slider system

by Flor... at arxiv.org 03-13-2024

https://arxiv.org/pdf/2403.07423.pdf

Deeper Inquiries

Can gravity impede locomotion in self-adaptive systems

In the context of self-adaptive systems, gravity can potentially impede locomotion under certain conditions. When the transverse acceleration of the beam is smaller than the gravity acceleration, the upper contacts tend to remain closed permanently due to sticking. In this scenario, no vibration-induced locomotion occurs, resulting in a state of inactivity. However, if the elastic displacement dominates and exceeds the effects of gravity acceleration, locomotion becomes feasible as vibrations drive movement along the system.

How does relative rotation impact sliding-induced locomotion

Relative rotation between slider and beam plays a significant role in sliding-induced locomotion within self-adaptive systems. This relative rotation allows for rocking motions that lead to unique forms of sliding behavior. The rocking-induced acceleration contributes to horizontal transport by enabling different contact sequences where only specific contacts are closed at any given time. This dynamic interaction between relative rotation and contact closures influences how sliding-induced locomotion occurs within these systems.

What parallels can be drawn between pendular motion in non-smooth systems

Pendular motion in non-smooth systems exhibits similarities with pitching cycles observed in self-adaptive systems. Just like a pendulum attached to a moving base undergoes swinging motions around a fixed point, sliders hinged on beams experience similar swinging movements during their locomotive processes. The concept of pitch limits defines maximum relative rotations between slider and beam that influence directional transport along with other kinematic constraints akin to pendular motion dynamics seen in various mechanical systems such as toys or primates' brachiation activities.