Table Of ContentLecture Notes in Mechanical Engineering
Alexander Evgrafov E ditor
Advances in
Mechanical
Engineering
Selected Contributions from the
Conference “Modern Engineering:
Science and Education”,
Saint Petersburg, Russia, June 2014
Lecture Notes in Mechanical Engineering
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Alexander Evgrafov
Editor
Advances in Mechanical
Engineering
Selected Contributions from the Conference
“
Modern Engineering: Science
”
and Education , Saint Petersburg, Russia,
June 2014
123
Editor
Alexander Evgrafov
PetertheGreatSaint-PetersburgPolytechnic
University
Saint Petersburg
Russia
ISSN 2195-4356 ISSN 2195-4364 (electronic)
Lecture Notesin MechanicalEngineering
ISBN978-3-319-29578-7 ISBN978-3-319-29579-4 (eBook)
DOI 10.1007/978-3-319-29579-4
LibraryofCongressControlNumber:2016931213
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Preface
The “Modern Engineering: Science and Education” (MESE) conference was
initially organized by the Mechanical Engineering Department of Saint Petersburg
State Polytechnic University in June 2011 in St. Petersburg (Russia). It was envi-
sioned as a forum to bring together scientists, university professors, graduate stu-
dents, and mechanical engineers, presenting new science, technology, and
engineering ideas and achievements.
The idea of holding such a forum proved to be highly relevant. Moreover, both
location and timing of the conference were quite appealing. Late June is a won-
derful and romantic season in St. Petersburg—one of the most beautiful cities,
located on the Neva river banks, and surrounded by charming greenbelts. The
conference attracted many participants, working in various fields of engineering:
design, mechanics, materials, etc. The success of the conference inspired the
organizers to turn the conference into an annual event.
The third conference, MESE 2014, attracted 140 presentations and covered
topics ranging from mechanics of machines, materials engineering, structural
strength,andtribologicalbehaviortotransporttechnologies,machineryquality,and
innovations, in addition to dynamics of machines, walking mechanisms, and
computational methods. All presenters contributed greatly to the success of the
conference. However, for the purposes of this book only 19 papers, authored by
research groups representing various universities and institutes, were selected for
inclusion.
I am particularly grateful to the authors for their contributions and all the par-
ticipating experts for their valuable advice. Furthermore, I thank the staff and
management at the university for their cooperation and support, and especially, all
membersoftheprogramcommitteeandtheorganizingcommitteefortheirworkin
preparing and organizing the conference.
Lastbutnotleast,IthankSpringerforitsprofessionalassistanceandparticularly
Mr. Pierpaolo Riva who supported this publication.
v
Contents
Frameworks not Restorable from Self Stresses. . . . . . . . . . . . . . . . . . . 1
Mikhail D. Kovalev
Structural Modifications Synthesis of Bennett Mechanism. . . . . . . . . . . 9
Munir G. Yarullin and Marat R. Mingazov
Kinematic Research of Bricard Linkage Modifications . . . . . . . . . . . . . 17
Munir G. Yarullin and Ilnar A. Galiullin
Drive Selection of Multidirectional Mechanism with Excess Inputs . . . . 31
Alexander N. Evgrafov and Gennady N. Petrov
Engineering Calculations of Bolt Connections. . . . . . . . . . . . . . . . . . . . 39
Alexander A. Sukhanov
Modern Methods of Contact Forces Between Wheelset
and Rails Determining. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57
Kirill V. Eliseev
A Novel Design of an Electrical Transmission Line
Inspection Machine. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67
Mohammad Reza Bahrami
One Stable Scheme of Centrifugal Forces Dynamic Balance . . . . . . . . . 75
Vladimir I. Karazin, Denis P. Kozlikin, Alexander A. Sukhanov
and Igor O. Khlebosolov
New Effective Data Structure for Multidimensional Optimization
Orthogonal Packing Problems. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 87
Vladislav A. Chekanin and Alexander V. Chekanin
One-Dimensional Models in Turbine Blades Dynamics . . . . . . . . . . . . . 93
Vladimir V. Eliseev, Artem A. Moskalets and Evgenii A. Oborin
vii
viii Contents
Stationary Oscillation in Two-Mass Machine Aggregate
with Universal-Joint Drive. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 105
Vassil Zlatanov
The Vibrations of Reservoirs and Cylindrical Supports of Hydro
Technical Constructions Partially Submerged into the Liquid. . . . . . . . 115
George V. Filippenko
Mathematical Modelling of Interaction of the Biped Dinamic
Walking Robot with the Ground . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 127
Anastasia Borina and Valerii Tereshin
Programmable Movement Synthesis for the Mobile Robot
with the Orthogonal Walking Drivers . . . . . . . . . . . . . . . . . . . . . . . . . 135
Victor Zhoga, Vladimir Skakunov, Ilya Shamanov and Andrey Gavrilov
Processing of Data from the Camera of Structured Light for
Algorithms of Image Analysis in Control Systems of Mobile Robots . . . 149
Vladimir Skakunov, Viсtor Belikov, Viсtor Zhoga and Ivan Nesmiynov
Structural and Phase Transformation in Material of Steam
Turbines Blades After High-Speed Mechanical Effect . . . . . . . . . . . . . . 159
Margarita A. Skotnikova, Nikolay A. Krylov, Evgeniy K. Ivanov
and Galina V. Tsvetkova
Stress Corrosion Cracking and Electrochemical Potential
of Titanium Alloys . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 169
Vladimir A. Zhukov
Metal Flow Control at Processes of Cold Axial Rotary Forging. . . . . . . 175
Leonid B. Aksenov and Sergey N. Kunkin
Use of the Capabilities of Acoustic-Emission Technique
for Diagnostics of Separate Heat Exchanger Elements . . . . . . . . . . . . . 183
Evgeny J. Nefedyev, Victor P. Gomera and Anatoly D. Smirnov
Author Index . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 195
Frameworks not Restorable
from Self Stresses
Mikhail D. Kovalev
Abstract Some simple hinge trusses in the plain are considered. Generally
speaking,theyarestaticallydeterminate.However,undercertainchoiceoffree(not
fastened) hinges they allow internal stress. The question of uniqueness of the
positionsoffreehinges,providedthecertainselfstressandthepositionsoffastened
hinges are known, is investigated.
(cid:1) (cid:1) (cid:1)
Keywords Embeddings of pinned graphs Assur’s groups Self stress Global
rigidity
Introduction
We will focus on the static-geometric properties of ideal flat lever designs. The
simplestsuchdesignsareflattrussesD ,D (Fig.1),andAssur’sgroupsM ,M [1,
2 3 3 4
2].Ontheseschemesthehinges,fixed(pinned)intheplane,aremarkedbycrosses;
thefree(notfixed)hingesaremarkedbycircles.Itisclearhowtobuildinductively
trusses D and M for an arbitrary number k of free joints. The hinges allow all
k k
relative rotations in the plane of adjacent levers. There may be combined hinges
connecting more than two levers. Considering these designs, we will assume that
the positions in the plane of the pinned hinges are not changing. A typical design
with the scheme D or M is a flat truss, that is it does not allow continuous
k k
movementofthefreejointswithoutchangingthelengthsofthelevers.Inaddition,
ithasnointernalstresses,i.e.isstaticallydeterminate.However,ourinterestwillbe
focused on special structures allowing internal stresses.
Let p be the radius-vector in the plane of the i-th hinge. The equilibrium
i
condition for the forces, applied to a free hinge p from the adjacent hinges, looks
i
like
M.D.Kovalev(&)
MoscowStateUniversity,Moscow,Russia
e-mail:[email protected]
©SpringerInternationalPublishingSwitzerland2016 1
A.Evgrafov(ed.),AdvancesinMechanicalEngineering,
LectureNotesinMechanicalEngineering,DOI10.1007/978-3-319-29579-4_1
2 M.D.Kovalev
X (cid:2) (cid:3)
x p (cid:3)p ¼0;
ij i j
j
wherethesummationisperformed onallthehingesadjacenttothei-thhinge, and
the scalar x ¼x is called the stress of the lever p p. Value x indicate a
ij ji i j ij
measure of tension or compression of the lever: if x \0, the lever is extended, if
ij
x [0, then it is compressed.
ij
In engineering literature the term “stress of the lever” has a different meaning.
Namely, stress is a force e per unit cross-sectional area of the lever. If s is the
ij ij
cross-sectionalareaofthelever,thentheconnectionofourstresswithengineering
stress is as follows: x ¼ eijsij .
ij jp(cid:3)pj
i j
A framework p¼ðp ;p ;...;p Þ with m free hinges [3] is a definite truss or a
1 2 m
specified position of the hinge mechanism. If a framew(cid:4)ork(cid:5)p¼ðp1;p2;...;pmÞ in
R2 is specified, the self (or internal) stresses x¼ x of p are defined as
ij
non-trivial solutions of the homogeneous system of linear equations:
X
x ðp (cid:3)pÞ¼0; 1(cid:4)i(cid:4)m: ð1Þ
ij i j
j
Ifthissystemhasonlyatrivialsolution,(cid:4)then(cid:5)wesaythattheframeworkdoesn’t
admitselfstresses.Otherwise,thesetx¼ x ofselfstressesofptogetherwith
ij
the trivial solution of system (1) is a linear space of self stresses of p.
Weareinterestedinthefollowingquestion: isitpossibletorestore positionsof
the f(cid:4)ree (cid:5)hinges, knowing positions of the pinned hinges and a self stress
x¼ x ?Ifso,thenwesaythattheframeworkpisrestorablefromitsselfstress
ij
x;otherwisewesaythatpisnotrestorablefromx.Letaselfstressofaframework
p be zero on all levers adjacent to a free hinge p, then the framework p is not
i
restorablefromthisselfstress.Really,theequilibriumconditionofforcesdoesnot
depend on the position of p.
i
Notealsothatifthelengthofaleverisequalto0(adjacenthingescoincide),the
frameworkformallyallowsstressx0,non-zeroonthisleverandequaltozeroonall
otherlevers.Suchframeworkswecallcancellable.Frameworkswithoutcoinciding
adjacent hinges we call irreducible. A cancellable framework with more than one
freehingesisnotrestorablefromitsstressx0.Indeed,ifitsfreehingecoincideswith
theadjacentpinnedone,thenwehaveanotherfreehingewithalladjacentleversnot
stressed. If two adjacent free hinges coincide, then their position can be chosen
arbitrarily,and theresulting framework will admitthestressx0.
Since unstressed levershaveno effect while restoring a frameworkfrom its self
stress, it makes sense to consider internal stresses nonzero on each lever.
Frameworks allowing such stress we call completely stressed.
