ADAMS Simulation Research Articles

Kinematics Simulation of Steel Tube Rotating Mechanism Based on ADAMS

Taking a new steel tube rotating mechanism as the research object, the model is simplified and the virtual prototyping model of the mechanism is established. The mechanism kinematics simulation is carried out with ADAMS simulation software. The motion law and state in two conditions are comparatively analyzed. Analysis results show that, in steel tube clamping stage the motion of the clip rod is of variable deceleration; And in rotating stage, mechanism is of accelerated rotation with variable acceleration when the cylinder input, while mechanism is of uniform rotation when the crank input； And then the cylinder is with positive and reverse swings throughout the movement process. The analysis results provide the basis for institution parameter selection and structure optimization design.

The Motion Analysis of Traditional Belt Type Sintering Machine

The sprocket wheel and pallet cars of industrial sintering machine utilize the gear and pin rack gear meshing to drive focused on the defects of velocity fluctuation and arching during running process, motion features for sprocket wheel and pallet cars line were analyzed. In this paper, based on virtual prototype motion simulation, using ADAMS simulation software, the regulars of motion which are the velocity and acceleration of the upper and lower pallet cars line and the angular velocity of tail sprocket wheel were analyzed. And then, the reasons of velocity fluctuation have been found. Simulation analysis results are consistent with the actual situation. We obtain the movement rule of traditional type sintering machine. Study results can provide the theoretical basis which can be used to solve the problems of velocity fluctuation in future.

Multiobjective Optimization of Hybrid Electrical Vehicle Powertrain Mounting System Using Hybrid Genetic Algorithm

Powertrain mounting system of a Hybrid Electrical Vehicle (HEV) is analyzed and researched, the expression of energy distribution matrix and that of mounting reaction force are derived, and mathematical model of the system is established in Matlab. Correctness of the model established is tested and verified through model establishing for simulation and calculation in ADAMS. Features of Hybrid Genetic Algorithm (HGA) for multiobjective optimization are analyzed and researched, model for calculation of multiobjective optimization using Hybrid Genetic Algorithm is established, targets for optimization of the system are determined, and optimization is executed based on the mounting stiffness parameters. The result that the system is optimized apparently by Hybrid Genetic Algorithm is revealed through contrast of the energy distribution matrix and mounting reaction force of pre and post-optimization.

Common underlying steering curves for motorcycles in steady turns

We study the steady turn behaviours of some light motorcycle models on circular paths, using the commercial software package ADAMS-Motorcycle. Steering torque and steering angle are obtained for several path radii and a range of steady forward speeds. For path radii much greater than motorcycle wheelbase, and for all motorcycle parameters including tyre parameters held fixed, dimensional analysis can predict the asymptotic behaviour of steering torque and angle. In particular, steering torque is a function purely of lateral acceleration plus another such function divided by path radius. Of these, the first function is numerically determined, while the second is approximated by an analytically determined constant. Similarly, the steering angle is a function purely of lateral acceleration, plus another such function divided by path radius. Of these, the first is determined numerically while the second is determined analytically. Both predictions are verified through ADAMS simulations for various tyre and geometric parameters. In summary, steady circular motions of a given motorcycle with given tyre parameters can be approximately characterised by just one curve for steering torque and one for steering angle.

A multi-body systems approach to simulate helicopter occupant protection systems

This paper reports on the work of computer simulations carried out at Coventry University as part of the European 6th Framework HeliSafe TA project, which considered the potential improvements in occupant safety for civil helicopters. A multi-body systems approach with additional use of finite elements for critical components such as a pilot airbag and the harnesses was adopted in the computer models to simulate helicopter crash/rollover scenarios and to investigate the effectiveness of occupant protection systems deployed during helicopter crash scenarios. ADAMS and Madymo simulations of helicopter impact/rollover events were demonstrated. A cabin/cockpit model of a Bell UH-1D helicopter was developed to replicate the physical crash test setup and a parametric study for the pilot airbag and a range of harness concepts was performed. The use of validated multi-body systems-based cabin/cockpit models has proved to be effective in the development of new restraint system concepts for occupant protection.

How to ensure stable motion of suspended wheeled mobile robots

PurposeA suspended wheeled mobile robot (SWMR) that consists of one or more manipulators can be exploited in various environmental conditions such as uneven surfaces. The purpose of this paper is to discuss the requirements for stable motion planning of such robotic systems to perform heavy object manipulation tasks.Design/methodology/approachFirst, a systematic procedure for dynamics modelling of such complicated systems for planar motion is presented and verified using ADAMS simulation software. Next, based on the new dynamic moment‐height stability (MHS) measure, the stability of such systems will be investigated using the obtained dynamics. To this end, introducing the concept of a virtual frame, the obtained model of SWMR has been employed for investigating the effect of the base suspension characteristics as well as terrain roughness on the stability of the system. Next, the stability evaluation of the system is investigated after toppling down which has been rarely addressed in the literature. In addition, using the aforementioned model, the effect of stiffness is examined after instability.FindingsFirst, a systematic procedure for dynamics modelling of such complicated systems for planar motion is presented and verified using ADAMS simulation software. Next, based on the new dynamic MHS measure, the stability of such systems will be investigated using the obtained dynamics. To this end, introducing the concept of a virtual frame, the obtained model of SWMR has been employed for investigating the effect of the base suspension characteristics as well as terrain roughness on the stability of the system. Next, the stability evaluation of the system is investigated after toppling down which has been rarely addressed in the literature. In addition, using the aforementioned model, the effect of stiffness is examined after instability.Originality/valueA general procedure for dynamics modelling of SWMRs is presented. To verify the obtained dynamics model, another model for the considered system has been developed by ADAMS software. Next, using the obtained dynamics, the postural stability of such systems is investigated, based on the new postural MHS measure extended for SWMRs. The obtained simulation results show that by decreasing the stiffness coefficients of suspension subsystem the stability of the system weakens.

연식주퇴 시스템 축소 모델에 대한 ADAMS 해석

Due to the improvement of science technology, the future tank system will have the multi-function for more powerful firing. and the tank, mounted this multi-function, must be lighter to maintain the mobility. Therefore, new brecoil technology would be necessary to reduce the recoil force for lighter platform. The present study covers a FOOB(Fire-Out0-Of-Battery) system that can reduce the recoil force dramatically. The firing sequence of the FOOB system is radically different from that of a conventional system. The gun is latched in out-of-battery position prior to firing. As soon as firing is occurred, the gun is unlatched and accelerated. The forward momentum is imparted to the recoiling parts. This momentum is opposed by the ballistic force imparted by firing and the recoil force and recoil length will be reduced. In this study, the ADAMS simulation has been performed with the scale model of the FIB(Fire-In-Battery) system and the FOOB system. The ADAMS simulation results show that the FOOB system could reduce the operating time and recoil length and the recoil force.

Simulation Analysis of the Tilted-Jaw Crusher Based on ADAMS

Through combine geometric modeling in SOLIDWORKS with dynamic simulation in ADAMS, a tilted-jaw crusher model was built. The content of simulation are horizontal and vertical displacement of discharging and feeding port, dynamic motion characteristics, speed and acceleration of movable jaw’s center of gravity, the pendulous moment that bracket suffered, and other important parameters .The results confirmed that the movement of the tilted-jaw crusher and dynamic features meet the crushing requirements. But bracket and bearing existed huge pendulous power and pendulous moment. The research and ideas about the tilted-jaw crusher value for the optimal design of the crusher, provide an effective method for improvement, there is a strong practical value.

Natural Properties Analysis of an Idler Gear System of a New NC Power Turret

This work develops a dynamics analytical model for an idler gear system of a power turret to analyze its vibration modal frequencies and modes. The idler gear system has four gears and each gear of the idler gear system has been defined as a rigid body which has the two translational and one rotational freedom. An ADAMS simulation model for whole idler gear system is built also. The calculated result by the analytical model accord with the ADAMS model’s well.

Investigation on influence of stiffness and hydro-pneumatic suspension for dynamic analysis of a heavy truck using ADAMS simulation

The present work deals in performing multi-body dynamic simulation of a truck in ADAMS software. The vehicle vibration levels with respect to the hydro pneumatic suspension spring and the tyre stiffness to be evaluated to find out the sprung mass frequency and the vibration levels were examined. A model of truck is simulated to find the frequency levels of the truck. A 12-ton vehicle is modelled in Pro/E and simulated in ADAMS software to find the natural frequency and the response of the vehicle. The simulated vehicle is tested with the various road terrain inputs and the results were studied.

Shotcrete Robot Simulation Tecnology Used to Solve the Problem Pitching Mechanism Underrun

As for the problem that pitching mechanism can not pitch up easily at the beginning since the shotcrete robot often work in the lower voltage situation, this paper theoretically analyzes the causes that voltage shortage brings on pitching mechanism pitching up underload and verifies the maximum load working position with ADAMS simulation analysis. In the design of shotcrete robot the pitch cylinder hydraulic drive system is improved and it proves good in its practice.

Working Performance Analysis of Positive-continuous-engagement Type Clutch in Different Friction Conditions

Both finite element and dynamics method are conducted to investigate the mechanical characteristics of positive-continuous-engagement(PCE) type clutch under different conditions of friction. The three-dimensional finite element analysis model of PCE-type clutch,which consists of the wedge,the inner race and the outer race,is established on the Marc platform. The contact intensity between wedges and inner-outer races are analyzed to obtain the maximum stress position and the stress distribution curve of the contact bodies. The distribution curves of distribution engagement time,impact of engagement and steady engagement force are presented through ADAMS simulation. The simulation results indicate that if the chosen friction factor is too low,the contact area will become slipping zone so that the clutch cannot be locked. The contact stress values show little change with the increase of friction coefficient under self-locking condition,but the abrasion area becomes larger and the maximum stress position is the contact area between wedges and inner race. The impact of engagement force decreases when the friction coefficient increases. Therefore,it can reduce the low cycle fatigue failure and extend the life of clutch. It will provide important basis for design and deficiency analysis of the PCE-type clutch.

Synthesis of a Rear Wheel Suspension Mechanism With Pure Rectilinear Motion

This paper focuses on the synthesis of an independent suspension that can guide the wheel to track a straight line when moving up (jounce) and down (rebound). With displacement subgroups, it first synthesizes a rigid body guidance mechanism and verifies the result through screw theory. To simplify and optimize the loads of each kinematic chain of the knuckle, it investigates the static equations and ultimately synthesizes a symmetric redundant-constraint suspension structure, which could not only eliminate the shambling shocks induced by the jumping of wheels but also decrease the abrasion of tires. Theoretically, only one pair of noncoplanar kinematic chains is necessary to realize straight line guidance. However, a second pair of noncoplanar kinematic chains is particularly utilized to improve the load status of the links. Because of the redundant constraints induced by the suspension structures, the whole weight can be significantly reduced compared with the initial one. ADAMS simulations with a set of real parameters indicate that the rear suspension mechanism proposed in this paper can guide the wheel to follow a rectilinear locus during jounce and rebound. Therefore, this kind of independent suspension can improve the ride and handling properties of advanced vehicles.

Real-time multibody vehicle model with bush compliance effect using quasi-static analysis for HILS

Vehicle handling simulations such as J-turns, slaloms, double lane changes, and fish hook maneuvering are essential to evaluate the control subsystems of the intelligent vehicle in the HILS (Hardware-in-the loop simulation). It is well known that the compliance effects from bushes in the suspension subsystem are important to have reliable solutions for the handling simulations. In the multibody vehicle dynamics model, the bush elements in the suspension subsystem are usually modeled as high-stiffness springs. However, due to this high stiffness of the bush model, it requires small step-sizes in the numerical integration. With this kind of bush model, it is almost impossible to achieve real-time simulations for HILS. In this paper, a quasi-static analysis method is presented in order to consider bush compliance effects for a real-time multibody vehicle model. To validate the proposed method, the quarter car simulations of the McPherson strut and the Multilink suspension subsystems have been performed, comparing with the ADAMS simulations. Full car bump run simulations and fish hook handling test simulations have also been carried out to see the effectiveness of the proposed model. The CPU time measured shows the real-time capabilities of the proposed method.

Robust state feedback stabilization of articulated steer vehicles

In this work, a full-state feedback controller is designed to prevent the oscillatory instability or snaking behaviour of an articulated steer vehicle. To design the controller, first, a linearized model of the vehicle is developed and analyzed to identify the most important uncertain tire parameters with regard to the snaking mode. By using this linearized model, the equations of motion are represented in the form of a polytopic system, which depends affinely on the most important uncertain tire parameters. Then, by solving some linear matrix inequalities, both the Lyapunov and state feedback matrices for the robust stabilization of the vehicle are found. The performance of the resulting controller is evaluated by conducting several simulations based on the linearized model. To verify the results from the linearized model analysis, some simulations are also done by a virtual prototype of the vehicle in ADAMS. The results based on the linearized model are reasonably consistent with those from the simulations in ADAMS. They show that the controller can effectively stabilize the vehicle during the snaking mode in different driving conditions.

Robust variable structure control for stabilisation of articulated steer vehicles by torque vectoring

In this work, a Variable Structure Control (VSC) system is developed to remove the instability of an articulated steer vehicle during the snaking mode. First, by using a linearised model of the vehicle, the equations of motion are derived in the state-space form. The uncertainties in the tyre-road contact parameters introduce some unknown and time-varying but bounded terms to these equations. This will be a basis for designing a robust VSC system to stabilise the vehicle during the snaking by a torque vectoring device. The robustness of the resulting controller is examined for different driving conditions in terms of the road surface, forward speed and vehicle parameters, based on the linearised model. The control system is also incorporated into a virtual prototype of the vehicle in ADAMS, and its operation is investigated. The results from the linear model analysis and simulations in ADAMS show that the controller can eliminate the instability effectively.

Inverse kinematic analysis for cable-driven humanoid-arm manipulator

Based on the current research results of humanoid- arm bionics and parallel manipulators, an approach is presented for 7-DOF cable-driven humanoid-arm manipulator. Cable- driven mechanism is high in mechanism rigidity, controlaccuracy and loading capacity, which overcome the disadv- antages of conventional serial mechanism. The detailed mechanism of humanoid-arm manipulator is introduced firstly; and then the manipulator motion is described by screw theory, the motion ranges of shoulder joint are resolved under the tension conditions of the cables. To find displacement solutions of a 7-DOF redundant robot, a hybrid algorithm, based on GPM and Paden-Kahan sub problems, is proposed. The length of the driven rope can be solved according to the relationship between the joint angles and rope length. The coupling influences from shoulder to the wrist and the elbow joints are also analyzed. As the result, through the simulation of ADAMS, using the straight-line interpolation, real-time animation display is completed for the motion of the manipulator to verify the correctness of inverse kinematics algorithm.

MODELING AND DYNAMIC ANALYSIS OF RECONFIGURABLE ROBOTIC GRIPPER SYSTEM FOR HANDLING FABRIC MATERIALS IN GARMENT INDUSTRIES

A reconfigurable robotic gripper based on pneumatic technology has been designed and developed for grasping fabric materials in garment industries automation. The design is based on reconfigurable multidegree of freedom, which can manipulate single and multiple panels of limp materials. The design consist of four arms initially in a cross bar configuration, hosting four suction cups mounted on each of the arms. The design assures low inertia, high modularity and full flexibility adapting to the picking of limp materials in garment and shoe industries. The simulation referring to a worst-case operative cycle has been performed in the environment of a current industrial layout. The kinematic and dynamic performance of the gripper system is analyzed in ADAMS simulation software and the results are presented. The architecture of the gripper is simple and the choice of pneumatic actuators improves the reliability of the system.

Kinematic analysis and error modeling of TAU parallel robot

The TAU robot presents a new configuration of parallel robots with three degrees of freedom. This robotic configuration is well adapted to perform with a high precision and high stiffness within a large working range compared with a serial robot. It has the advantages of both parallel robots and serial robots. In this paper, the kinematic modeling and error modeling are established with all errors considered using Jacobian matrix method for the robot. Meanwhile, a very effective Jacobian approximation method is introduced to calculate the forward kinematic problem instead of Newton–Raphson method. It denotes that a closed form solution can be obtained instead of a numerical solution. A full size Jacobian matrix is used in carrying out error analysis, error budget, and model parameter estimation and identification. Simulation results indicate that both Jacobian matrix and Jacobian approximation method are correct and with a level of accuracy of micron meters. ADAMS's simulation results are used in verifying the established models.

Parametric Simulation of Shovel-Oil Sands Interactions During Excavation

Hydraulic shovel excavators are widely used as primary production equipment in surface mining for removing overburden and ore materials. Variability in material diggability, unstructured mining environments and limited space, effective machine operation, and machine logistics affect the performance of the hydraulic shovel excavators. A hydraulic shovel simulator is developed to simulate the performance of hydraulic shovels for oil sands extraction in the ADAMS simulation environment. The shovel-oil sands interaction is simulated using a reformulated universal earth-moving model. The simulated digging parameters include the bucket dynamics, oil sands properties, oil sands-bucket interactions, and operating variables. The results show that the simulator is capable for identifying the parameters, which influence the performance of hydraulic shovels. This parameterized simulator provides a powerful tool for performance monitoring, excavation process designs and structural optimization of hydraulic excavators. The method presented in this paper forms the basis for developing comprehensive simulator models for automated shovel operations in constrained mining environments.