The Lock-in Phenomenon in VIV using A Modified Wake Oscillator Model for both High and Low Mass-Damping Ratio

Document Type : Research Paper


Associate professor, Department of Mechanical Engineering Ferdowsi University of Mashhad


In the present paper the behavior of an elastically mounted cylinder in low and high mass-damping ratio is investigated. For high mass-damping ratio, a classical wake oscillator model is used. At the first, by neglecting all damping and nonlinear terms of this model, the possibility of using a linear model for determination of the lock-in range and the dominant mode is investigated. Then, without neglecting any terms, the nonlinear model is analyzed and the results are compared with experimental results. Due to change of the behavior of the system in low mass-damping ratio and disability of classic model in modeling of this change, a modified wake oscillator model is presented and the results of this model, in both low and high mass-damping ratio, are compared with experimental results.   


[1] Nicholas, G. , “Stiffness Study of a Parallel Link Robot Crane for Shipbuilding
Applications,” ASME Journal of Offshore Mechanics and Arctic Engineering, Vol.111,
pp.183-193 (1989).
[2] Alan, M., “Development of a Robotic Structural Steel Placement System,” Report
Official Contribution of the National Institute of Standards and Technology ,NIST (2003).
[3] Roberts, R. G., Graham, T., and Lippitt, T., “On the Inverse Kinematics, Statics , and
Fault Tolerance of Cable-Suspended Robots,” Journal of Robotic Systems, Vol. 15,
pp.581-597 (1998).
[4] Ebert-Uphoff, I. , “What A Stability Measure for Underconstrained Cable-Driven
Robots,” Proceedings of the 2004 IEEE International Conference on Robotics &
Automation , pp.4943-4949 ( 2004).
[5] Vadia, J. , “Planar Cable Direct Driven Robot : Hardware Implementation , ” MSc.
Thesis, Department of Mechanical Engineering, Ohio (2003).
[6] Robert L., and Williams II, “Planar Cable-Direct- Driven Robots, Part I : Kinematics and
Statics ,” ASME Design Automation Conference, pp.1-9 (2001).
[7] Williams II, R., and Gallina , P., “Planar Cable-Direct-Driven Robots :design for wrench
exertion, ” Journal of Intelligent and Robotic Systems, Vol.35, pp. 203-219 (2002).
[8] Albus, S., Dagalakis, G., and Yancey, W., “Available Robotics Technology for
Applications in Heavy Industry,” Iron and Steel Exposition and Annual Convention,
pp.117-115 (1988).
[9] Kossowski, C., and Notash, L., “A Novel 4 DOF Cable Actuated Parallel Manipulator,”
J. Robotic Systems, Vol.19, pp.605-615 (2002).
[10] Shiang, W. J., Cannon, D., and Gorman, J., “Dynamic Analysis of the Cable Array
Robotic Crane, ” Proceeding of IEEE Conference on Robotics and Automation,
pp.2495-2500 (1999).
[11] Shiang, W. J., Cannon, D., and Gorman, J., “Dynamic Analysis of the Cable Array
Robotic Crane,” Proceeding of 1998 IEEE Conference on Robotics and Automation, pp.
2495-2500 (1999).
[12] Do, W. Q, and Yang, D.C. H., “Inverse Dynamic Analysis and Simulation of a
Platform Type of Robot,” Journal of Robotic Systems, Vol. 5, pp.209-222 (1988).
[13] Agrawal, S. K., “Workspace Boundaries of In-Parallel Manipulator Systems,
” International Journal of Robotics and Automation, Vol. 7, pp.94-99 (1998).
[14] Sunil K. , “Cable Suspended Planar Robots With Redundant Cables: Controllers With
Positive Tensions,” IEEE Transactions on Robotics, Vol. 21, pp.143-150 ( 2005).
[15] Verhoeven, R., Hiller, M., and Tadokoro, S., “Workspace, Stiffness, Singularities and
Classification of Tendon-Driven Stewart Platforms,” 6th International Symposium on
Robot Kinematics, pp.105-114(1998).
[16] Pusey, J., Fattah, A., and Agrawal, S. , “Design and Workspace Analysis of a 6-6 Cable
Suspended Parallel Robot, ” Mechanism and Machine Theory , Vol.39, pp.761–778