ADAMS Simulation Research Articles

Sliding Mode Control for Wheeled Inverted Pendulum

To control wheeled inverted pendulum is a good way to test all kinds of theories of control. The control law is designed, and it based on the collaborative simulation of MATLAB and ADAMS is used to control wheeled inverted pendulum. Then, with own design of hardware and software of control system, sliding mode control is used to wheeled inverted pendulum, and the experimental results of it indicate short adjusting time, the small overshoot and high performance.

The Kinematics and Dynamics Analysis of Rescue Robot Based on Adams and Matlab Simulation

The rescue robot adaptive to tough terrain is in great demand. The robot can be summarized as wheeled, tracked, legged and hybrid robot. In this paper, a hybrid robot is proposed to satisfy the rugged terrain with obstacles. The triple-legged wheel unit designed for the robot is introduced, which can work in two modes in a simple mechanism. A mechanical structure of the unit is shown and the kinematics of it is studied. With an emphasis of the dynamics of the robot, the peak torque needed is calculated. The simulations in Adams and Matlab show that the robot is able to negotiate obstacle that inaccessible to wheeled robot. The angular velocities and torques of traction input shaft is analyzed to obtain the maximal torque demanded, which is similar to the calculation. Additionally, the selected drive system is sufficient to power the robot. The robot can vary its modes of motion smoothly and automatically, allowing it to adapt to tough terrain with obstacles. This releases the burden of the complex sensors to detect the terrain.

The Synthesis and Testing of a Shaped Wheel for Stairs Climbing Robot

This article describes the process of designing and testing of shaped wheels for a mobile robotic stairclimbing system. It explains the basic principle of the shaped wheel and a synthesis of the shape and dimensions of the wheel segment for specified dimensions of the stairs. Before building a reduced prototype of a chassis with the designed wheels, simulations of its virtual model were performed in the ADAMS simulation environment. Functionality of the suggested solution was verified by building a prototype and its testing. The article is concluded with description of the achieved results and other research activities planned in the sphere of locomotive subsystems for stairclimbing.

Optimal Control for Wheeled Inverted Pendulum Based on Collaborative Simulation

To control wheeled inverted pendulum is a good way to test all kinds of theories of control. The optimal control based on MATLAB is used to control wheeled inverted pendulum, and the control law is designed, and its feasibility is verified. However the mathematical model of the wheeled inverted pendulum is linearized and inverted pendulum is a high-order nonlinear system, both of them exist errors. Then the collaborative simulation of MATLAB and ADAMS is also used to control wheeled inverted pendulum, in which wheeled inverted pendulum is built up to virtual prototype model in ADAMS based on virtual prototype technology, and the control law designed from simulation of MATLAB is consulted. At last the results of simulation demonstrate the correctness of optimal control of wheeled inverted pendulum, and it also indicates the way is worth advocating in the study.

Simulation and Study on Ride Comfort of Articulated Dump Truck Based on Rigid-Flex Coupling

For the poor ride comfort performance of the articulated dump truck, the dynamic model of ADT was built and its dynamic characteristics were also studied through finite element and multi-body system dynamic theory. According to the modal neutral file generated by finite element software with the flexible processing, the flexible coupling virtual prototyping model was set up for the multi-body dynamics simulation in ADAMS to obtain and analyze the data about the ADT ride comfort. This paper provided references for the design, redesign and optimization of the ADT.

Flexible Body Grasping Simulation in ADAMS

Analysis of Flexible Body is a difficult problem in system dynamics analysis. In the paper, the basic theory of ADAMS flexible body and some methods of adding flexible bodies to a model are introduced. And build a system simulation model. Through manipulator grasping tomatoes examples verify the effectiveness of ADAMS flexible body grasp simulation, provide stress and elastic deformation data basis for manipulator grasping flexible body.

The Nonfragile Controller with Covariance Constraint for Stable Motion of Quadruped Search-Rescue Robot

The problem of a stable motion for the quadruped search-rescue robots is described as a variance constrained uncertainty in the discrete systems. According to the model structure of the quadruped search-rescue robot, the kinematics of the robot is analyzed on the basis of the D- H parameter. Each joint of the robot angular velocity is planned using the Jacobian matrix, because the angular velocity is directly related to the stability of walking based on the ADAMS simulation. The nonfragile control method with the covariance constraint is proposed for the gait motion control of the quadruped search-rescue robot. The motion state feedback controller and the covariance upper bounds can be given by the solutions of the linear matrix inequalities (LMI), which makes the system satisfy the covariance constrain theory. The results given by LMI indicate that the proposed control method is correct and effective.

Redesign of Drive Shaft`s tripod Assembly, to improve the performance & reduce failure

The aim of the project is to enhance the performance of the drive shafts tripod assembly to reduce failure and to increase the performance of the product. Drive shaft transfer the engine power to the wheels and it allows for steering and suspension movement and reduce vibration for the driver. Loss of drive in the vehicle due to inboard / Tripod assembly damage (Drive shaft inboard joint failure). Reducing the Failure of drive shaft improves performance and warranty life for both existing product and new product. Even though the interconnecting shaft was intentionally made for fail during excessive loading, unfortunately the inboard joint fractures during static testing and on field. The failure due to the inboard joint (Tripod assembly roller damage) is high. Objective is to find the Root cause for tripod assembly Failure, by the Adams simulation case study, It has been observed bottom needle only getting loaded with the maximum load of 27KN and to improve the static load test load has to be uniformly distributed or roller and Needle geometry has to be improved to withstand the load. The aim of the project is to design and develop a tripod assembly withstand Minimum 1600 Nm. design.

Personal rapid transit vehicle with polyurethane wheels – modelling and simulation issues

The article focuses special attention to the dynamic response of wheels – track interaction in Personal Rapid Transit (PRT) vehicle’s application. The main issue is the wheels/ track contact model for polyurethane treaded wheels. The contact model has been defined using the available UA-Tire analytical model (University of Arizona Tire Model) initially worked out in the paper [1], The model is available in ADAMS simulation environment. To obtain the necessary parameters a simulation model in FEM environment as well as the polyurethane treaded wheels have been constructed. The model has undergone quasistatic load tests in order to find indispensable characteristics. The paper includes the description of simulation model of the PRT vehicle and presents selected outcomes of kinematic and dynamic analyses.

Welding Robot Dynamic Simulation

In this paper, the history and present conditions of welding robot were summarized in domestic situation and foreign situation, the latest development in technology was discussed. According to the structure and motion features of welding robots, using the UG simulation techniques can help us to establish the virtual prototype model of the robot easily, which can achieve the movement of the whole system analysis, dynamic analysis and so on. In this paper, the result of the application ADAMS simulation software is that the simulation mode provide reference for optimize the structure and drive mode design. It also was provided a possible scheme for the final optimal design.

Improving the critical speeds of high-speed trains using magnetorheological technology

With the rapid development of high-speed railways, vibration control for maintaining stability, passenger comfort, and safety has become an important area of research. In order to investigate the mechanism of train vibration, the critical speeds of various DOFs with respect to suspension stiffness and damping are first calculated and analyzed based on its dynamic equations. Then, the sensitivity of the critical speed is studied by analyzing the influence of different suspension parameters. On the basis of these analyses, a conclusion is drawn that secondary lateral damping is the most sensitive suspension damper. Subsequently, the secondary lateral dampers are replaced with magnetorheological fluid (MRF) dampers. Finally, a high-speed train model with MRF dampers is simulated by a combined ADAMS and MATLAB simulation and tested in a roller rig test platform to investigate the mechanism of how the MRF damper affects the train’s stability and critical speed. The results show that the semi-active suspension installed with MRF dampers substantially improves the stability and critical speed of the train.

A NOVEL DRIVING STRATEGY FOR DYNAMIC SIMULATION OF HOISTING ROPE WITH TIME-VARYING LENGTH

A simulation method for investigating the vibration behavior of hoisting rope with time-varying length is improved. By previously creating markers in the MSC.ADAMS software package, the parametric model of the rope wound along helix is established based on the concentrated-mass theory with multi-degree of freedom (multi-DOF). A novel driving strategy, cooperating fixed joints with angle sensors under the control of driving script, is proposed to substitute conventional contact force. Researching on the hoisting rope in the sinking winch mechanism, an equivalent discretization model is obtained with complicated boundary conditions considered. The differential equations of motion of the hoisting system are formulated employing Lagrange's equation and numerically solved using Runge–Kutta method. The simulation indicates that the horizontal swing is decreased in principle and the simulation with 800 discrete ropes is not performed more than 61 min. Therefore, this feasible strategy could not only guarantee the accuracy but also promote simulation efficiency and stability. The motion curves exported from ADAMS simulation coincide with one in numerical simulation, which validates both the numerical model and the driving strategy.

The Study of Winding Performance in Key Stage on a Parallel Grooved Drum

The parallel grooved multi-layer winding drum can wind rapidly and reliably compared to traditional multi-layer winding drum, because of the special groove which is generated by circular and helical motion. The present paper represented the key winding stage for parallel grooved drum was the helical motion in first circle on the second layer, and the stage was simulated in ADAMS under several factors as fleet angle, winding linear velocity and rope tension. Taguchi method was adopted to estimate the winding performance through two simulation outputs, including the time delay compared to ideal time and the sum of amplitude error during the delayed time. Experiment was applied by considering more factors than that in ADAMS, and the experiment results could verify the validity of simulation in ADAMS. The simulation and experiment results showed that the optimal winding performance could be obtained with certain combination of factors.

The Cleaning Performance Simulation of Rear Rolling Type Sweeper

Through analyzed the cleaning process of rear rolling type sweeper, the theoretical model of waste particle trajectory was established during the sweeper working process by using the contact theory of modern contact dynamics, and the ideal theory track of waste particle was simulated and optimized by using MATLAB. The three-dimensional solid model of the working device was created by using UG software, and virtual prototype model was completed by using ADAMS software, and rigid brush was replaced by neutral file with brush features characterize that was generated by finite element analysis software, and contact relationship of waste particle during the working process was added by ADAMS contact order, and rigid-flexible coupling virtual prototype system was completed and kinematics simulation was run. Finally, compared the trajectory curve from ADAMS simulation with the theoretical path from MATLAB, the Theoretical model was proved correctness. The theoretical research and simulation analysis was made test and verify each other. Facilitate the development of the same type of products.

Gear Fault Identification by Envelope Order Analysis Based on ADAMS Simulation

Due to the gear fault signal are often covered by complex noisy even under varying-speed running condition, and it is difficult to simulate the gear fault impact in practical work. To address the problem, a simulation scheme of gear fault is proposed in this paper. In the proposed approach, the gear fault model is built in UG at first. Subsequently, the model is imported in ADAMS, in which the meshing force instead of the vibration signal from a gearbox in real world is extracted, and then the envelope of the meshing force signal is extracted. Finally, the envelope order spectrum analysis scheme is used to obtain the feature order of gear faults. Simulation is conducted to verify the validity of the proposed method.

Development of a Small Aquatic Cutting Machine

To solve the aquatic cutting problems in small waters, an aquatic cutting device which can be installed on existing small vessels was developed. The device is simple and practical. Its cutting depth is adjustable and it can be quickly disassembled or installed. After analysis of forces on foundation and simulation in software ADAMS, it shows that the device meets the design requirements.

Design and Analysis of ADAMS Simulation for a New-Type Automobile Steering Mechanism

This paper puts forward a new type of pure rolling automobile steering mechanism, which is verified accord with the Ackerman principle, also, through the software ADAMS, simulates and analyses the motion performance and the transmission force of this mechanism compared with traditional Ackerman Steering. Key words: steering mechanism; Ackerman principle; ADAMS; pure rolling

Gait Planning and Simulation of the JQRI00 Quadruped Robot

More and more research works have been focused on the quadruped walking robot because of its flexibility for the dangerous and complex environment. The Straight and turning gaits of a quadruped robot (JQRI00) were planned by the principle of stability margin. The virtual prototype model of the JQRI00 was constructed, and the results of the simulation and analysis of the designed gaits using ADAMS simulation software indicate that the straight and turning gaits are feasible. Moreover, the S-curve used as displacement control makes the robot more stable.

Dynamics of ADAMS Simulation for Continuous Zoom Infrared Lens and Analysis

This paper describes the basic structure of the continuously variable focus lens form. The movement in the form of the lens is simulated analysis through ADAMS software. Trajectory accurately restore the zoom group and compensation group. With the theoretical design of comparative analysis and validation process the lens structure design movement, save the latethe experiments verify the cost of the great significance of the production process.

Method for optimizing manipulator’s geometrical parameters and selecting reducers

A geometrical parameters optimization and reducers selection method was proposed for robotic manipulators design. The Lagrangian approach was employed in deriving the dynamic model of a two-DOF manipulator. The flexibility of links and joints was taken into account in the mechanical structure dimensions optimization and reducers selection, in which Timoshenko model was used to discretize the hollow links. Two criteria, i.e. maximization of fundamental frequency and minimization of self-mass/load ratio, were utilized to optimize the manipulators. The NSGA-II (fast elitist nondominated sorting genetic algorithms) was employed to solve the multi-objective optimization problem. How the joints flexibility affects the manipulators design was analyzed and shown in the numerical analysis example. The results indicate that simultaneous consideration of the joints and the links flexibility is very necessary for manipulators optimal design. Finally, several optimal combinations were provided. The effectiveness of the optimization method was proved by comparing with ADAMS simulation results. The self-mass/load ratio error of the two methods is within 10%. The maximum error of the natural frequency by the two methods is 23.74%. The method proposed in this work provides a fast and effective pathway for manipulator design and reducers selection.