Thesis (Ph. D.)--Ohio State University, 2003. / Title from first page of PDF file. Document formatted into pages; contains xiii, 166 p.: ill. Includes bibliographical references (p. 159-166). Available online via OhioLINK's ETD Center.

Thesis (M.S.)--Rochester Institute of Technology, 1988. / Includes bibliographical references and appendixes.

Thesis (Ph. D.)--Ohio State University, 2006. / Title from first page of PDF file. Includes bibliographical references (p. 163-170).

M.Phil. / Pulleys are critical items in belt conveyors. Their primary role is to drive large mining conveyor systems, facilitating the transportation of ore over extensive distances, both in South Africa and abroad. The effect of the manufacturing process (with specific emphasis on the induced residual stresses) on the fatigue performance of conveyor pulleys is herein investigated and reported. A pre-selected pulley was chosen based on size, suitable for experimental work as well as practical specifications. The static and fatigue performance of the pulley were investigated both with the current design criteria as well as Finite Element Analysis, with comparisons drawn. The material data for the Finite Element Models was obtained experimentally with tensile tests of the SANS 1431 350 WA plate. The magnitude of the residual stresses were obtained experimentally by using the incremental hole-drilling technique for non-uniform residual stresses. The method was verified by comparison with the Finite Element Analysis results for the non-linear material analysis of the roll-bending of the shell. The fatigue analysis revealed that the stress ranges of interest for the pulley were below the non-propagating stress range, and hence theoretically infinite fatigue life would be possible under constant amplitude conditions. The operational fatigue life required for the pulley would be possible, when considering the latest S-N curve for "very high cycle fatigue". The stress intensity factors for the weld details were also below the threshold value and hence crack growth should not occur, upon crack initiation. A new design criteria was proposed for the fatigue analysis considering either fatigue assessment standards or fracture mechanics for the assessment of the butt-welds. This investigation showed that the manufacturing-induced residual stresses may play a significant role in the fatigue life of a pulley. The fatigue strength of a machined stressrelieved joint is higher if the stress range is partly compressive. The fatigue strength of a machined as-welded joint is higher than estimated by the fatigue classifications. This is due to residual stress relaxation that occurs at the weld toe because of yielding and hence a subsequent reduction and redistribution of the residual stresses. This reduction in the mean stress level, with a stress range that is partly compressive, would mean an increase in the fatigue strength of the joint. This would in conclusion result in similar fatigue strengths for a stress-relieved and an aswelded joint. This would additionally depend on the extent of the reduction of the residual stress in the as-welded joint. Recommendations were suggested for further experimental and numerical work for both the T-bottom and Turbine-type pulleys.

The goal of this master thesis is to develop an algorithm for solving cables on pulleys, which would be more efficient and accurate than existing algorithm used in software RFEM. This algorithm was integrated to the program for static and dynamic analysis of structures, in the form of particular program module. This work also contains examples of using this algorithm. The comparison of expected results with outcomes from the program is presented. The suitability for common practise is examined based on this comparison. The examples showed that the new algorithm for solving of cables on pulleys is more powerful and more accurate than existing solutions and most likely does not has equivalent competition.

<p>Recently, exploration to develop creative and technology-centered learning techniques have become popular. Researchers work on non-traditional tools to help students understand abstract concepts and reduce misconceptions in physics education. Studies have been performed to explore the influence computer simulations can make on learning as compared to the traditional methods. Simulations with dynamic moving images which engage visual senses have helped improve learning, while haptic channels are unexplored in comparison tactile senses are crucial in the case of embodied cognitive learning.</p><p><br></p><p>This thesis takes an opportunity to explore the research area of haptic technology combined with visual simulation. It tests the efficiency of the learning environment developed as a part of this thesis called the Visuo-Haptic Pulley Simulation (ViHaPS) in learning concepts of when compared to traditional learning tools. ViHaPS consists of six different scenarios and is designed to address common misconceptions of pulleys and has two different modes - minimal visual cues and added visual cues. Undergraduate students enrolled at Purdue University participated in this research. They were formed into two groups - an experimental group (ViHaPS) and control group (physical manipulatives) and were compared for learning gains.</p><p> </p><p><br></p><p>Results indicate that ViHaPS is useful in learning concepts of pulleys; however, the results are not significant in comparison to the real experimentation with pulleys.</p>

The present work makes a study of the drag forces of umbilical cables of pipes inspection robots and aims to determine a valid model for their calculation. For this purpose, the physical models are developed in relation to the friction forces for the straight and curved sections in all their possible configurations, obtaining for each case a differential equation that models the friction phenomenon and that includes fluid and cable the characteristics. By solving the differential equation, an explicit expression is obtained for the value of the frictional force in each case. In the present work, the obtained model is evaluated in comparison with the traditional simplified model. It is also presented a study about the influence of the stiffness of the cable and how this characteristic generates the forces of the normal general forces at the ends of the curves that, finally, result in an additional component of the frictional forces. By comparison with actual drag force measurements, the model obtained is validated. The complexity of the calculations required for the determination of the pull forces in real pipes makes it necessary to use software tools to facilitate it. For this reason, two software applications are developed, one specific for rigid pipes and another one for flexible pipes. A series of strategies of how to keep low the maximum value of the cable tension are presented too. / El presente trabajo se dedica al estudio de fuerzas de arrastre de cables umbilicales de robot de inspección o desobstrucción de tuberías y tiene como objetivo la determinación de un modelo válido para el cálculo de las mismas. Para tal fin, se desarrollan los modelos físicos en relación a las fuerzas de rozamiento presentes para tramos rectos y curvas en todas sus configuraciones posibles, obteniéndose así, para cada caso, una ecuación diferencial que modela el fenómeno del rozamiento y que incluye las variables propias del fluido presente y las características pertinentes del cable. Mediante la resolución de esa ecuación diferencial, se obtiene una expresión explícita para el valor de la fuerza de rozamiento en cada caso. En el presente trabajo, el modelo obtenido es evaluado mediante comparación con el modelo simplificado tradicional de manera de ver los alcances del nuevo modelo. Se realiza también una presentación de la influencia que tiene la rigidez del cable y como esta rigidez a la flexión genera fuerzas normales adicionales en los extremos de las curvas que redundan finalmente en una componente adicional de las fuerzas de fricción. Mediante comparación con mediciones reales de fuerza de arrastre se valida el modelo obtenido Dada la complejidad de los cálculos requeridos para la determinación de las fuerzas de arrastre de tuberías reales se desarrollan dos aplicaciones de software para el cálculo de las mismas, una específica para tuberías rígidas y otra para tuberías flexibles utilizando algoritmos de cálculo basados en las ecuaciones determinadas. Son presentadas también, una serie de estrategias de forma de mantener acotado el valor máximo de la tensión de cable. Dentro de las estrategias están la elección de materiales de recubrimiento de cable que presenten un bajo coeficiente de fricción con la tubería, la adopción de cables cuyo peso específico sea tal que el peso se iguale a la fuerza de empuje y la incorporación de varios dispositivos de tracción del cable de modo de mantener bajas las contra tensiones del cable utilizando un sistema distribuido de empuje.

The present work makes a study of the drag forces of umbilical cables of pipes inspection robots and aims to determine a valid model for their calculation. For this purpose, the physical models are developed in relation to the friction forces for the straight and curved sections in all their possible configurations, obtaining for each case a differential equation that models the friction phenomenon and that includes fluid and cable the characteristics. By solving the differential equation, an explicit expression is obtained for the value of the frictional force in each case. In the present work, the obtained model is evaluated in comparison with the traditional simplified model. It is also presented a study about the influence of the stiffness of the cable and how this characteristic generates the forces of the normal general forces at the ends of the curves that, finally, result in an additional component of the frictional forces. By comparison with actual drag force measurements, the model obtained is validated. The complexity of the calculations required for the determination of the pull forces in real pipes makes it necessary to use software tools to facilitate it. For this reason, two software applications are developed, one specific for rigid pipes and another one for flexible pipes. A series of strategies of how to keep low the maximum value of the cable tension are presented too. / El presente trabajo se dedica al estudio de fuerzas de arrastre de cables umbilicales de robot de inspección o desobstrucción de tuberías y tiene como objetivo la determinación de un modelo válido para el cálculo de las mismas. Para tal fin, se desarrollan los modelos físicos en relación a las fuerzas de rozamiento presentes para tramos rectos y curvas en todas sus configuraciones posibles, obteniéndose así, para cada caso, una ecuación diferencial que modela el fenómeno del rozamiento y que incluye las variables propias del fluido presente y las características pertinentes del cable. Mediante la resolución de esa ecuación diferencial, se obtiene una expresión explícita para el valor de la fuerza de rozamiento en cada caso. En el presente trabajo, el modelo obtenido es evaluado mediante comparación con el modelo simplificado tradicional de manera de ver los alcances del nuevo modelo. Se realiza también una presentación de la influencia que tiene la rigidez del cable y como esta rigidez a la flexión genera fuerzas normales adicionales en los extremos de las curvas que redundan finalmente en una componente adicional de las fuerzas de fricción. Mediante comparación con mediciones reales de fuerza de arrastre se valida el modelo obtenido Dada la complejidad de los cálculos requeridos para la determinación de las fuerzas de arrastre de tuberías reales se desarrollan dos aplicaciones de software para el cálculo de las mismas, una específica para tuberías rígidas y otra para tuberías flexibles utilizando algoritmos de cálculo basados en las ecuaciones determinadas. Son presentadas también, una serie de estrategias de forma de mantener acotado el valor máximo de la tensión de cable. Dentro de las estrategias están la elección de materiales de recubrimiento de cable que presenten un bajo coeficiente de fricción con la tubería, la adopción de cables cuyo peso específico sea tal que el peso se iguale a la fuerza de empuje y la incorporación de varios dispositivos de tracción del cable de modo de mantener bajas las contra tensiones del cable utilizando un sistema distribuido de empuje.

The present work makes a study of the drag forces of umbilical cables of pipes inspection robots and aims to determine a valid model for their calculation. For this purpose, the physical models are developed in relation to the friction forces for the straight and curved sections in all their possible configurations, obtaining for each case a differential equation that models the friction phenomenon and that includes fluid and cable the characteristics. By solving the differential equation, an explicit expression is obtained for the value of the frictional force in each case. In the present work, the obtained model is evaluated in comparison with the traditional simplified model. It is also presented a study about the influence of the stiffness of the cable and how this characteristic generates the forces of the normal general forces at the ends of the curves that, finally, result in an additional component of the frictional forces. By comparison with actual drag force measurements, the model obtained is validated. The complexity of the calculations required for the determination of the pull forces in real pipes makes it necessary to use software tools to facilitate it. For this reason, two software applications are developed, one specific for rigid pipes and another one for flexible pipes. A series of strategies of how to keep low the maximum value of the cable tension are presented too. / El presente trabajo se dedica al estudio de fuerzas de arrastre de cables umbilicales de robot de inspección o desobstrucción de tuberías y tiene como objetivo la determinación de un modelo válido para el cálculo de las mismas. Para tal fin, se desarrollan los modelos físicos en relación a las fuerzas de rozamiento presentes para tramos rectos y curvas en todas sus configuraciones posibles, obteniéndose así, para cada caso, una ecuación diferencial que modela el fenómeno del rozamiento y que incluye las variables propias del fluido presente y las características pertinentes del cable. Mediante la resolución de esa ecuación diferencial, se obtiene una expresión explícita para el valor de la fuerza de rozamiento en cada caso. En el presente trabajo, el modelo obtenido es evaluado mediante comparación con el modelo simplificado tradicional de manera de ver los alcances del nuevo modelo. Se realiza también una presentación de la influencia que tiene la rigidez del cable y como esta rigidez a la flexión genera fuerzas normales adicionales en los extremos de las curvas que redundan finalmente en una componente adicional de las fuerzas de fricción. Mediante comparación con mediciones reales de fuerza de arrastre se valida el modelo obtenido Dada la complejidad de los cálculos requeridos para la determinación de las fuerzas de arrastre de tuberías reales se desarrollan dos aplicaciones de software para el cálculo de las mismas, una específica para tuberías rígidas y otra para tuberías flexibles utilizando algoritmos de cálculo basados en las ecuaciones determinadas. Son presentadas también, una serie de estrategias de forma de mantener acotado el valor máximo de la tensión de cable. Dentro de las estrategias están la elección de materiales de recubrimiento de cable que presenten un bajo coeficiente de fricción con la tubería, la adopción de cables cuyo peso específico sea tal que el peso se iguale a la fuerza de empuje y la incorporación de varios dispositivos de tracción del cable de modo de mantener bajas las contra tensiones del cable utilizando un sistema distribuido de empuje.

Indiana University-Purdue University Indianapolis (IUPUI) / This thesis presents a comprehensive study of the effects of material, geometric and operational parameters on flat belt-drives steady-state belt stresses, belt slip, and belt-drive efficiency. The belt stresses include: belt rubber shear, normal, axial and lateral stresses; reinforcements tension force; and tangential and normal belt-pulley contact stresses. Belt slip is measured using the driven over driver pulleys’ angular velocity ratio. Each parameter was varied over a range to understand its impact on the steady-state belt-drive response. The material parameters studied are belt axial stiffness and damping, belt bending stiffness and damping, and belt-pulley friction coefficient. The geometric parameters studied are pulley center distance, pulleys diameter ratio, and belt thickness. The operational parameters studied are the driver pulley angular velocity and the driven pulley opposing torque (load). A high-fidelity flexible multibody dynamics parametric model of a two-pulley belt-drive system was created using a commercial multibody dynamics code. In the model the belt’s rubber matrix is represented using three-dimensional brick elements and the belt’s reinforcements are represented using one dimensional beam elements at the top surface of the belt. An asperity-based Coulomb friction model is used for the friction forces between the pulley and belt. The pulleys are modeled as rigid bodies with a cylindrical contact surface. The equations of motion are integrated using an explicit solution procedure. Unlike prior models which use one-dimensional truss or beam elements for the belt, the present model uses a three-dimensional belt model which introduces the effect of the thickness of the belt rubber matrix (modeled using brick elements). This enables a more accurate prediction of the belt stresses and slip than prior models. This thesis resolves in more details the complex stick-slip friction behavior of an axially flexible belt coupled with the shear effects of a flexible rubber cushion and at the same time shows the effect of the main system parameters on this stick-slip behavior. Some of the important conclusions of the thesis include: (1) the driver pulley has two distinct contact zones - a negative traction zone and a positive traction zone - while only one traction zone is present over the driven pulley; (2) the width of the negative traction zone on the driver pulley increases with the belt-pulley coefficient of friction and decreases with the belt axial stiffness; (3) the maximum belt tension and normal contact stress occur on the driver pulley and increase with the belt thickness, belt axial stiffness, and coefficient of friction; (4) belt-drive energy efficiency increases with the belt axial stiffness, and decreases with belt thickness, belt bending damping, belt operating speed, and operating torque load. The belt-drive modeling methodology presented in this thesis which enables accurate prediction of the belt stresses and slip can in turn be used to more accurately predict the fatigue life, wear life, and energy efficiency of belt-drives.