Aria Alasty
Center of Excellence in Design, Robotics,
and Automation (CEDRA),
School of Mechanical Engineering,
Sharif University of Technology,
Tehran, Iran
e-mail: aalasti@sharif.edu
Javad Akbari
School of Mechanical Engineering,
Sharif University of Technology,
Tehran, Iran
e-mail: akbari@sharif.edu
Introduction
The Euler-Bernoulli formulation for a thin beam vibrating at
relatively low frequencies is sufficient. However, effects of rotary
inertia and shear deformation are not negligible for thick beams or
even thin beams that are vibrating at high frequencies. Due to
their dimensions, resonance frequencies of micro- and nano-scale
resonators are extremely high, namely in the range of kHz to GHz
1. It has been observed experimentally that micro- and nanomechanical resonators tend to behave nonlinearly at very modest
amplitudes 25. This nonlinear behavior has already been exploited to achieve mechanical signal amplification and noise
squeezing 6,7.
While there is an ample literature on the large amplitude vibrations of Euler-Bernoulli beams 811, only a few contributions
have considered the effects of shear deformation and rotary inertia
12,13. Abramovich investigated the influence of compressive
axial loads on the linear frequencies of Timoshenko beams having
various boundary conditions 12. This formulation, however, neglected the joint action of rotary inertia and shear deformation.
Foda studied the nonlinear vibrations of a Timoshenko beam using perturbation method 13. While, both shear deformation and
rotary inertia were considered, it was restricted to the pinned
boundary condition.
In this paper, the large amplitude free vibration of a doubly
clamped Timoshenko beam, which includes shear deformation
and rotary inertia effects, is investigated. The governing partial
differential equation is obtained by the application of Hamiltons
principle. Then, the Galerkin technique is applied to convert the
partial differential equation to an ordinary differential equation.
Finally, one of the most powerful perturbation methods, i.e., the
method of multiple scales is used to determine a second-order
perturbation solution. Then the developed theory is applied to
study a doubly clamped microbeam. The results give a basic understanding of the influence of shear deformation and rotary inertia on the nonlinear frequencies of a doubly clamped microbeam.
In this way, the method used by Foda 13 in macro-scale has been
applied to another set of boundary conditions in micro-scale. To
the best knowledge of the authors, this is the first time that the
effects of rotary inertia and shear deformation on nonlinear vibration of microbeams are investigated.
x =
x =
2w
x2
where u and w are the axial and transverse displacements, respectively, and x is the axial coordinate of the beam. Also, x and x
are the normal strain and curvature at the centerline, respectively.
Considering the existence of shear deformation, the slope of the
beam centerline maybe written as
w
=+
x
1
2
U=
Contributed by the Technical Committee on Vibration and Sound of ASME for
publication in the JOURNAL OF VIBRATION AND ACOUSTICS. Manuscript received April
12, 2005; final manuscript received January 14, 2006. Assoc. Editor: Sotirios Natsiavas.
u 1 w
+
x 2 x
1
2
w
t
EI
+m
u
t
+ mr2
dx
+ kAG2 + EA2x dx
mass per unit length and r is the radius of gyration of the beam
cross section i.e., r2 = I / A. The mass moment of inertia is replaced by mr2.
On the basis of the Hamiltons principle, the variations of the
Lagrangian tt T Udt = 0, where t is the time, provide the gov0
erning equations as well as the boundary conditions. The resulting
governing equations are
w
2
EI
+ kAG
mr2 2 = 0
x
x
x
t
2w
w
kAG
2
t
x
x
2u
u 1 w
EA
+
2
t
x
x 2 x
w
=0
x
=0
at x = 0,L
In general, the axial inertia is small compared to both the transverse inertia and the rotary inertia 14. Neglecting the term
m2u / t2, Eq. 7 can be integrated with respect to x and the
result substituted into Eqs. 5 and 6 to give
EI
EA
2L
10
w
x
11
dx
4w
2w
mEI 4w
m 2r 2 4w
EI 4 + m 2 mr2 +
2
2 +
x
t
kAG x t
kAG t4
where
N = N0 +
2w
EI 4w mr2 4w
N
+
=0
x2 kAG x4 kAG x2 t2
.
q+
1
q 2
2L2
= w/L
w
13
16
dx
17
1
N0
q 4 8
EAL4
2r
1
N0kG
kG
2 2 2
r48 EL4
E Ar L
2dx q +
2dx
kG
Er2L2
1
q3 = 0
L4
18
where the prime and dot denote derivation with respect to x and t,
respectively. In order to reduce Eq. 18 to an ordinary differential
equation, averaging over the space variable Galerkins method is
applied. Multiplying both sides of Eq. 18 in and integrating
over the interval of 0 , 1 results in
q + 1 + 2q2q + 3q + 4q3 = 0
where the coefficients ii = 1 , . . . , 4 are
19
1
kG
kG
E
N0
f1 2 1 +
f2
f2
f 1r 2 4E r 2
L
kG
AL2
2 =
1
f2f3
2f 1r24L2
1
N0kG
N0
kG
3 = 4 8
f4
f2 +
f4
f 1r E L 4
EIL2
AL4
4 =
f1 =
1
f3
kG
f2 4 f4
2f 1r48 Er2L2
L
where f is i = 1 , . . . , 4 are
x = x/L
w
x
1
kG
kG
E
N0
2 1+
r24 Er2
EL
kG
EAL2
t = t
wx,t = x qt
12
EA
2
15
1 =
w
w
w
kAG
N 2 =0
t2
x
x2 x
2
+ kAG
mr2 2 = 0
x2
x
t
2
NL2 2w
EI 4w mr22 4w
+
=0
2
2
4
2
EI x
kAGL x
kAG x t2
u 1 w
EA
+
x
x 2 x
4w m2L4 2w mr22L2
4w
E
m 2r 2 4L 4 4w
+
1+
+
4
2
2
2
EI t
EI
kG x t
kAGEI t4
x
2dx
f2 =
. dx
20
2dx
21
f4 =
where
f3 =
. dx
= 2EI/m
14
is the linear frequency for a corresponding doubly clamped EulerBernoulli beam. Substitution of Eq. 13 into Eq. 12 and use of
the chain rule of differentiation results in
612 / Vol. 128, OCTOBER 2006
q0 = q0 =
q0 = 0
22
T1 = t
T0 = t
T2 = t
24
d
= D 0 + D 1 + 2D 2 +
dt
d2
= D20 + 2D0D1 + 2D21 + 2D0D2 +
dt2
d4
= D40 + 4D30D1 + 26D20D21 + 4D30D2 +
dt4
34 A21A2ei21+2T0
25
where
Dj =
Tj
26
j = 0,1,2
1D20q2
1D20q1
+ 3q 2 =
+ 3q 1 = 0
4D30D1q1
2 1D 0D 1q 1
27
28
29
21 =
22 =
2
1
+
2
21
3
4
31
32
33
which gives
Journal of Vibration and Acoustics
38
39
40
1 = 1T2 + 10 2 = 2T2 + 20
41
1 =
2 =
42
A2 = 2 a2 expi22t + i20 43
1
where T2 = 2t is used. Solving for q3 with retaining only the particular solutions and combining the resulting expressions for q1,
q2 and q3 gives
q = a1 cos1t + 10 + a2 cos2t + 20 + 3C1a31 cos31t
+ 310 + C2a32 cos32t + 320 + C3a1a22 cos1 + 22t
+ 10 + 220 + C4a1a22 cos1 22t + 10 220
+ C5a21a2 cos21 + 2t + 210 + 20 + C6a21a2 cos21
2t + 210 20
44
37
21
+ A21A2ei212T0 + c . c.
A1 = 2 a1T2ei1T2
36
q2 = 0
35
34
j = j + 2 j + O3
j = 1,2
45
C1 =
221 4
48141 9121 + 3
C2 =
222 4
48142 9122 + 3
C3 =
221 + 222 34
41 + 224 11 + 222 + 3
C4 =
221 + 222 34
41 224 11 222 + 3
C5 =
222 + 221 34
421 + 24 121 + 22 + 3
C6 =
222 221
421 24 121
34
2 2 + 3
Table 1 The parameters 02 and in Eq. 48 for EulerBernoulli, Rayleigh and shear beams
46
22wmax
22 21L
a2 =
21wmax
21 22L
10 = 20 = 0
47
Now, we consider the special cases of Euler-Bernoulli, Rayleigh no shear deformation and shear beams. In all of these cases
there is only one linear natural frequency 0 and Eq. 19 degenerates into the general form:
q + 20q + q3 = 0
48
20
q0 = wmax/L
q0 = 0
49
Application of the method of multiple scales results in the following solvability conditions
D 1A = 0
50
2i0D2A + 3A2A = 0
51
Vibration of a Microbeam
A doubly clamped microbeam with rectangular cross section,
made of silicon undergoing flexural vibration is considered. The
microbeam geometric and material properties are given in Table 2.
Since the linear Euler-Bernoulli beam theory is widely used by
researchers, for comparison the ratio of the nonlinear frequency,
, of different beams to the linear frequency, 0, of EulerBernoulli beam has been computed and plotted for different slenderness ratios and maximum amplitude-thickness ratios. In all of
the figures, the frequencies correspond to the first spatial mode of
vibration. In addition, for Timoshenko beam the lower fundamental frequency 1 is used in the figures.
In Fig. 1, the slenderness ratio, L / r, is 10, which corresponds to
0a = 0
0 + 8 a 2 = 0
3
52
where the primes indicate differentiation with respect to T2. Solving Eq. 52 gives
a = a0
3a2
T2 + 0
80
53
0 = 0
a0 = wmax/L
54
q = a0 cost + 0 + O3
55
Therefore,
where, the nonlinear natural frequency is
= 0 +
32a2
80
56
Conclusion
The large amplitude vibration corresponding to the first spatial
mode of a doubly clamped microbeam, which includes shear deformation and rotary inertia effects, was studied. The method of
multiple scales was used to find an approximate perturbation solution for the resulting nonlinear equation. It was observed that a
nonlinear model results in higher natural frequencies for the considered doubly clamped microbeam. The effects of shear deformation and rotary inertia are significant and cannot be neglected in
the case of thick and short microbeams undergoing large amplitude vibrations. Therefore, when the theory of beams is used for
the study of micro- and nanomechanical structures, shear deformation and rotary inertia effects should be considered for an accurate dynamic analysis.
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