ADAMS Software Research Articles

Research on the ditching resistance reduction of self-excited vibrations ditching device based on MBD-DEM coupling simulation.

In plant horticulture, furrow fertilizing is a common method to promote plant nutrient absorption and to effectively avoid fertilizer waste. Considering the high resistance caused by soil compaction in southern orchards, an energy-saving ditching device was proposed. A standard ditching blade with self-excited vibration device was designed, and operated in sandy clay with a tillage depth of 30cm. To conduct self-excited vibration ditching experiments, a simulation model of the interaction between soil and the ditching mechanism was established by coupling the ADAMS and EDEM software. To begin with, the ditching device model was first set up, taking into account its motion and morphological characteristics. Then, the MBD-DEM coupling method was employed to investigate the interaction mechanism and the effect of ditching between the soil particles and the ditching blade. Afterwards, the time-domain and frequency-domain characteristics of vibration signals during the ditching process were analyzed using the fast fourier transform (FFT) method, and the energy distribution characteristics were extracted using power spectral density (PSD). The experimental results revealed that the vibrations ditching device has reciprocating displacement in the Dx direction and torsional displacements in the θy and θz directions during operation, verifying the correctness of the coupling simulation and the effectiveness of vibrations ditching resistance reduction. Also, a load vibrations ditching bench test was conducted, and the results demonstrated that the self-excited vibrations ditching device, compared with common ditching device, achieved a reduction in ditching resistance of up to 12.3%. The reasonable parameters of spring stiffness, spring damping, and spring quality in self-excited vibrations ditching device can achieve a satisfied ditching performance with relatively low torque consumption at an appropriate speed.

Efficient and accurate flexible multibody dynamics modeling for complex spacecraft with integrated control applications

This study presents a novel flexible multibody dynamics modeling method tailored to spacecraft with intricate motion features such as multi-axis antenna actuation, robotic manipulations, and space station module rotation. Using a floating base and a tree-topology structure, the model effectively simulates the kinematics and dynamics of large-angle joint rotations and elastic deformations, leveraging the Lagrangian framework and finite element analysis. An advanced augmented proportional–derivative (APD) control scheme is also introduced, incorporating system dynamics for enhanced predictive control, accommodating complex interactions and nonlinear system behaviors. Our modeling approach, compared with the commercial Adams software, shows similar system responses while reducing computation time by about 70%, highlighting its efficiency and accuracy. Moreover, incorporating the APD strategy into our system enhances tracking precision, achieving a 90% reduction in error compared with conventional proportional–derivative controls, underscoring the benefits of combining dynamic modeling with control improvements.

Design Aspects of Lower Limb Exoskeleton

Aim: This research work aimed at the design, simulation, and validation of a lower limb exoskeleton for rehabilitation. The device can provide regressive gait training for patients suffering from lower limb mobility disorders. Background: People suffering from mobility disorders, such as spinal cord injuries, and other related diseases are in high proportion. Exoskeletons play a vital role in enhancing the lifestyle of people with disorders. Devices that provide locomotion assistance and help in reducing the burden of therapists through effective and repetitive gait training are in high demand. Exoskeletons have further extended to the fields of the military to enhance the performance of physically abled persons. Prototype development of lower limb exoskeletons is too expensive and many of them are patented. The requirement for this system to perform human trials is subjective to several medical and ethical norms. Thus, there exists a need to evaluate and validate the exoskeleton designs. Methods: In this work, the design has been made inclusive of different body shapes and sizes. The device has been modeled in SOLIDWORKS and its structural integrity has been analyzed using the ANSYS software. Later, the model has been subjected to environmental assessment and then motion analysis using the ADAMS software. Results: The structural integrity analysis has revealed the design to be adequate to carry the applied load as the stresses induced were less than the yield strength of the material. The sustainability analysis showed that LLE made of aluminium alloy had less impact on the environment relative to the other two materials. Conclusion: The kinematic simulation revealed that the angular amplitudes, the reaction force of the right hip and knee joint, and the contact force between the shoe and the ground of the exoskeleton agreed well with the experimental findings of the literature.

Study on the Hole-Forming Performance and Opening of Mulching Film for a Dibble-Type Transplanting Device

In order to improve the quality of transplanting devices and solve the problems of the poor effect on soil moisture conservation and more weeds easily growing due to the high mulching-film damage rate with an excessive number of hole openings, we developed a dibble-type transplanting device consisting of a dibble-type transplanting unit, a transplanting disc, and a dibble axis. The ADAMS software Adams2020 (64bit) was used to simulate and analyze the kinematic track of the transplanting device. The results of the analysis show that, when the hole opening of the envelope in the longitudinal dimension was the smallest, the transplanting characteristic coefficient was 1.034, the transplanting angle was 95°, and the transplanting frequency had no influence. With the help of the ANSYS WORKBENCH software Ansys19.2 (64bit), an analysis of the process of the formation of an opening in the mulching film and a mechanical simulation of this process were completed. The results indicate that, when the maximum shear stress of the mulching film was the smallest, the transplanting characteristic coefficient was 1.000, the transplanting frequency was 36 plants·min−1, and the transplanting angle was 95°. In addition, the device was tested in a film-breaking experiment on a soil-tank test bench to verify the hole opening in the mulching film. The bench test showed that, when the longitudinal dimension was the smallest, the transplanting characteristic coefficient was 1.034, the transplanting frequency was 36 plants·min−1, and the transplanting angle was 95°. When the lateral dimension was the smallest, the transplanting characteristic coefficient was 1.034, the transplanting frequency was 36 plants·min−1, and the transplanting angle was 90°. The theoretical analysis, kinematic simulation, and soil-tank test results were consistent, verifying the validity and ensuring the feasibility of the transplanting device. This study provides a reference for the development of transplanting devices.

Improved Sliding Mode Variable Structure Control of Robot Manipulators with Flexible Joints based on Singular Perturbation

This paper discusses the kinematics analysis method of six link mechanism based on virtual prototype technology and Adams. Firstly, the kinematics mathematical model of the six-bar linkage is deduced. Then, based on the design and development process of virtual prototype technology, the virtual prototype model of the six-bar press is established in ADAMS software. Finally, the kinematics simulation analysis is carried out for the model. The proposed method provides a reference for the parametric and optimal design analysis of the multi bar linkage of the mechanical press.

Finite element analysis and experimental study of strain for a vehicle rear suspension

In this paper, aspects of the study of the durability of rear suspension components of a vehicle are discussed. These aspects are addressed in two ways, namely the study by CAD modelling and finite element method simulation, and secondly by experimental analysis on a durability test bench. In order to develop these research problems, an experimental stand is virtually modelled and studied by simulation using ADAMS software. Results are obtained that characterize the operation of the test bench system kinematically and dynamically. The studies are then completed by finite element analysis of the dependent rear axle and helical springs in the suspension structure. These results are corroborated with those obtained experimentally, i.e. stresses and strains recorded on the stand. The usefulness of these studies is that they allow the validation of different components of the rear suspension in terms of fatigue strength and different types of rear axles from cars can be tested, as the stand has a modular construction and the test parameters can be adjusted.

Comparative analysis of adaptability of open TBM small curve turning radius

Aiming at the problems of difficult operation and low excavation accuracy of open TBM in the process of small curve cornering, the structural mechanism, and motion characteristics of the traditional Horizontal main beam type TBM and the new 8-SPS V-type TBM mainframe were compared and studied. Based on the drainage channel project of a pumped storage power station, the factors affecting the minimum turning radius of TBM were analyzed by establishing two TBM main engine turning direction models. Secondly, the design of two open TBM mainframes with a diameter of ϕ3530 mm is improved. Finally, the relationship between the displacement and velocity change between the cutterhead and the propulsion cylinder under the straight-line boring condition and the small curve turning boring condition of TBM was analyzed by ADAMS software. The results show that when the tunnel design axis has a large turning radius and is dominated by straight segments, the TBM propulsion system with horizontal main beam type has higher excavation efficiency. The 8-SPS V-type TBM cutterhead attitude change is more flexible, which is more suitable for complex and changeable small curve corner boring. Moreover, the 8-SPS propulsion system is symmetrical, and the speed of each cylinder changes more gently during the turning process, the cylinder attitude of TBM is easy to control during the small curve turning and propulsion, the boring accuracy is higher, and the propulsion system compliance is better.

Performance evaluation of a novel ball screw raceway profile based on geometric close contact theory

The raceway profile greatly influences the performance of a ball screw. Although the traditional circular raceway profile is simple in structure, it can be a limitation to the load carrying capacity of ball screws. In this paper, a novel type of ball screw raceway profile is proposed based on geometrical close contact theory. Firstly, the second-order approximation curve of the ball is derived using the McLaughlin formula in the normal plane of the raceway helix, which serves as the basis for constructing the close raceway profile. The mathematical expression of the contact stress distribution of the close raceway is then obtained using Chebyshev polynomials. A comparison and analysis of the contact stress distribution between the close raceway and the conventional raceway is carried out. Furthermore, simulation models of ball screws with the close raceway profile are established and the contact behavior of the ball with both types of raceways is statically simulated using ANSYS software. The dynamic performance of both ball screws is compared and analyzed using ADAMS software. The analysis results show that compared with the conventional raceway ball screw, the close raceway ball screw has lower stress, strain, and friction torque under the same load conditions. These research results have significant implications for the structural optimization of ball screws.

Design And Analysis of Flapping Wing Aircraft Based on Crank Mechanism

This paper is proposed a flapping wing aircraft based on the crank slider mechanism to solve the problems of the two flapping wing structures, such as synchronization and excessive local stress common to existing ornithopters. MATLAB is used to solve the equations to determine the dimensions of the individual components, and the 3D model is designed by SolidWorks software. The static analysis on flapping wings, the static stress, and the static strain distribution map of flapping wings are carried out. Moreover, the mechanism of flapping wing aircraft is modeled in Adams software, which simulates the actual structure by designing the kinematic constraint relationships between the components. It was concluded that the flapping wing could achieve a flapping angle of 30 degrees in one cycle, which was consistent with the simulation results by MATLAB. Furthermore, it was found that the first principal stress of the danger point was less than the yield strength of the material to determine the rationality of material selection. Finally, the fluid trace distribution on the upper and lower sides of the flapping wings was analyzed, which was consistent with the actual situation.

An estimation method for dynamic vehicle turn center

The instantaneous vehicle turn center is of great significance in the design and analysis of vehicle steering and handling. Due to the influences of vehicle flexible components, the vehicle turn center is not intersected at one point and the traditional determination method for vehicle turn center is not applicable for multi-axle vehicles. In this paper, a novel instantaneous tire turn center (TTC) method is proposed to estimate the instantaneous vehicle turn center to provide a guidance for the design of vehicle steering and analysis of handling. The motivation of the tire turn center concept is introduced and the calculation method is developed. The instantaneous vehicle turn center is estimated based on the calculation of instantaneous TTC. The estimation results of the vehicle turn center of a two-axle vehicle and a three-axle off-road vehicle under different vehicle velocities and lateral accelerations during steering are presented based on the vehicle dynamics models built by ADAMS software. Since there is no simplifications of the vehicle in the proposed estimation method, the determined instantaneous vehicle turn center is more accurate and can reflect the actual vehicle motion better as compared to the traditional vehicle turn center in transient motion process. The estimated instantaneous vehicle turn center provides a guidance for design and optimization of vehicle steering as well as steering angles control strategies to make all tire turn centers controlled at the instantaneous vehicle turn center, thus reducing tire wears and improving the whole vehicle steering coordination performance.

Dynamic simulation analysis of working equipment of small backhoe hydraulic excavator

To further improve the performance of a company’s excavator, reduce the production cost, and simplify the complex process of dynamic modeling, a 13-ton small backhoe hydraulic excavator working device was taken as the research object, and a virtual prototype was established by using Pro/E and ADAMS software. The excavation resistance was calculated and the STEP function was defined, the dynamic simulation analysis was carried out during the working process of the excavator, and the stress change curve of the hinge point was obtained, which reduced the calculation amount, and provided a reference for the finite element analysis and optimization design of the working device of the excavator.

Investigation of the impact of cycloidal gear pin tooth wear on transmission error in precision planetary cycloidal reducers

In light of the alteration pattern of transmission error following wear of a cycloid gear and needle tooth, this study employs the precision planetary cycloidal 80E reducer as an example. Theoretical deduction and simulation analysis of the change in transmission error were conducted, relying on the Archard wear model and an error model. Utilizing the principles of Archard wear theory and error theory, a functional relationship between wear duration and transmission error is deduced. Subsequently, a dynamic simulation of the 3D model is executed using ADAMS software, and the simulation results are processed with MATLAB software. A comparative and analytical examination is conducted between the theoretical curve and the simulation curve of transmission error to explore the influence of the cycloid gear and needle tooth wear on transmission error. Finally, the precision of the simulation results is further confirmed through experimental validation. The findings revealed that the transmission error curve gradually increased during the initial wear of the cycloid gear and the needle tooth, with the rate of increase increasing proportionally with wear duration. By comparing the theoretical calculations, simulation outcomes, and experimental results, the validity and accuracy of the transmission error calculations grounded in Archard wear theory and error theory are confirmed. This research provides a theoretical basis for accurately predicting the survival of precision planetary cycloidal reducers throughout the lifespan.

基于ADAMS的果园果品三级减振拖车减振性能研究

To enhance the vibration-damping performance of orchard transport trailers and reduce the damage rate during fruit transportation, this study constructed a D-level simulation pavement analyzed trailer's vibration-damping system, and optimized design of two types of three-stage vibration-damping transport trailers. The vibration mechanical properties of Fuji apples were experimentally evaluated, revealing a positive correlation between damage rate and vibratior acceleration. By utilizing vibration acceleration as a vibration-damping parameter, Adams software was employed to simulate the trailer's vibration-damping performance. The results demonstrate that the three-stage trailer with rubber vibration-damping pads in the horizontal direction exhibits superior vibration-damping effectiveness compared to existing trailers.

Design and analysis of extensible differential‐speed helical drive pipe dredging robot

AbstractTo replace the manual labour involved in pipe dredging, this study proposes an extensible differential‐speed helical drive pipe dredging robot. The robot can be released in an inspection well to remove silt from a sewer pipe for routine maintenance. This robot consists of a differential drive system, an extensible helical drive element, a dredging plate, and a retractable feed screw. The extensible helical drive element is used to address the problem of diameter differences between the inspection well, sewage well, and drainpipe. The problem of dynamical dredging working conditions is studied by a detailed design of mechanical system. To analyze the operational process of the proposed robot, a virtual prototype is established using the ADAMS software. The simulation results show that the proposed robot can achieve the slurry‐flow operating state because of its reasonable structure and cutting, mixing, and conveying silt functions. The result presented in this study can help to improve energy efficiency and provide technical assistance for same type robots.

Modelling and analysis for the dynamic behavior of 6-DOF motion platform used for simulating aerospace mechanical environment

As high carrying capacity, high frequency response and high precision control performance are presented, the 6 degree of freedom (DOF) motion platform is chosen as the aerospace device to implement mechanical environment simulation experiment on the ground. In this paper, a dynamic model of the 6 DOF motion platform is firstly developed based on the Newton-Euler method. Then the attitude determination and the driving force are analyzed by solving the dynamic equations. Furthermore, a parametric modelling method for the 6 DOF motion platform is proposed and applied to obtain the expansion amounts and the driving forces of the 6 hydraulic rods in the motion platform by adopting the Adams software. Results show a good agreement with the computation results of the theory dynamic model, which demonstratesthe validity of the proposed modelling method for analysis of the dynamic behavior of the 6-DOF motion platform.

Simultaneous adjustment of balance maintenance and velocity tracking for a two-wheeled self-balancing vehicle

The purpose of this research is the development a method for simultaneously adjusting the velocity tracking control and the inclination angle stabilization using control techniques for a two-wheeled self-balancing vehicle. The control tasks involve balancing the vehicle around its unstable equilibrium configuration along with steering and velocity tracking. In this study, the mathematical dynamic model of the vehicle is derived using the Lagrange method, under the assumptions of pure rolling and no-slip conditions which are expressed through nonholonomic constraint equations. Along with the mathematical descriptions, a multibody virtual prototype featuring advanced tire-ground interaction modeling has been developed using the MSC Adams software suite. Several classical and modern control strategies are investigated and compared to implement the method. These include Sliding Mode Control (SMC), Proportional Integral Derivative (PID), Feedback Linearization (FL), and Linear Quadratic Regulator Control (LQR) for the under-actuated and unstable subsystem that accounts for the pitch and longitudinal motions. The capabilities of these control strategies are verified and compared not only through Matlab simulation but also using Adams-Matlab co-simulation of the controller and the plant. Although every control technique has its advantages and limitations, the extensive simulation activities conducted for this study suggest that the SMC controller offers superior performances in keeping the system balanced and providing good velocity-tracking responses. Moreover, a Lyapunov-based analysis is used to prove that the sliding mode control achieves finite time convergence to a stable sliding surface. These advantages are counterbalanced by the complexity and the large number of parameters belonging to the designed SMC laws, the scheduling of which can be difficult to implement. For the comparison results another non-linear control strategy, that is, the feedback linearization method, is presented as an alternative. Through the Jacobian linearization approach the mathematical model of the system is linearized, allowing the use of control techniques such as linear quadratic regulation, which are deployed to treat the balancing, steering, and velocity tracking tasks. Finally, the empirical tuning of a PID controller is also demonstrated. The performance and robustness of each controller are evaluated and compared through several driving scenarios both in pure-Matlab and Adams-Matlab co-simulations.

Manipulate mechanism design and synchronous motion application for driving simulator

The manipulate load system of a helicopter driving simulator is a complex mechatronic system. To simulate the load system of the joystick more effectively, this study provides a new manipulate mechanism with automatic position reset function that integrates a spring system within the joystick. The load simulation of this manipulate mechanism can be achieved by designing the nonlinear coefficient of the spring in a reasonable manner, thereby eliminating the need for complex control of motor simulation and system time delay. This greatly simplifies the complexity of the system and effectively meets the requirements of real-time and accuracy. Initially, the new manipulate mechanism is described in detail through kinematic analysis. Then, dynamic simulation is conducted in ADAMS software to simulate the motion of the operation mechanism. Considering the active–passive relationships between the manipulate mechanism and the driving simulator, a mapping is established to achieve synchronized motion. The synchronized motion is subsequently evaluated and verified in MATLAB/Simulink. The results reveal that this new manipulate mechanism has high reliability and can effectively achieve synchronized motion with the driving simulator. The new manipulate mechanism will be useful in advancing research into the design of manipulate mechanism processes.

A New Exoskeleton Prototype for Lower Limb Rehabilitation

This paper presents a new solution for an exoskeleton robotic system that is used for locomotor assistance in people with locomotor disabilities. As novel features of the present research, a novel structural solution of a plane-parallel kinematic chain, intended to be used as the leg of an exoskeleton robot, is proposed. A virtual prototype is made, on the basis of which kinematic and dynamic studies are carried out using ADAMS software for the dynamic analysis of multibody systems. The dynamic simulation of the exoskeleton is performed in two simulation situations: walking on a horizontal plane, as well as the simulation of motion assistance when climbing stairs. Following this analysis, it is noted that the robotic system achieves angular variations in the hip and knee joints similar to that of a human subject. As a result, the constructive solution is feasible, and the next stage of the study is to realize an experimental prototype by the rapid prototyping technique. The kinematic elements of the exoskeleton are designed to provide structural strength, to be easily manufactured by 3D printing and to be easy to assemble. For this purpose, the structural optimization is performed with the finite element method to eliminate stress concentrators. Finally, an experimental prototype of the exoskeleton robot is manufactured and assembled, whose motion is analyzed using ultrafast-camera-based video analysis.

Simulation and Validation of a Steering Control Strategy for Tracked Robots

Tracked inspection robots have demonstrated their versatility in a wide range of applications. However, challenges arising from issues such as skidding and slipping have posed obstacles to achieving precise and efficient trajectory control. This paper introduces a method to determine the steering parameters of robot based on the surrounding obstacles and road information. The primary objective is to enhance the steering efficiency of tracked robots. The corresponding relationship between the track speed, driving force and track steering radius of the tracked robot is obtained. Considering the influence of track skid and slip, relationship models about the steering radius and traveling speed of the robot are established. The minimum and maximum steering radii in the obstacle avoidance process are analyzed, and a mathematical model of the relationship between the steering angle of the robot and the distance between the side obstacles is established. The trajectory deviation model of the tracked robot is established, and a principle analysis of the LiDAR ranging is completed. This lays the foundation for a steering measurement and control system for tracked robots. ADAMS(2020) software is used to establish the multi-body dynamics model of the tracked robot, and three different obstacle-avoiding steering control strategies are designed for the robot in a simulated environment with space obstacles. The simulation experiment demonstrates that the robot achieves more efficient obstacle avoidance steering through the use of differential steering, leading to a decrease in both track skid and slip rates. Through the simulation experiment, it can be seen that the robot uses differential steering to complete the obstacle avoidance steering movement more efficiently, and the track skid and slip rates are smaller. The simulation results are used to complete the steering control experiment of the tracked robot on different road surfaces. The results show that by adjusting the track driving parameters, the robot can effectively complete the obstacle-avoiding steering movement by using the differential steering control strategy, which verifies the accuracy of the steering control strategy.

The structural design and simulation of the tubing handling manipulator

The size of the oil pipes in the factory is relatively large, making them inconvenient to handle. There are few existing oil pipe handling devices, and a 2P2R four degree of freedom manipulator device has been innovatively designed to complete the oil pipe handling work. First, the three-dimensional model of the manipulator was established using SolidWorks software, and then the improved D-H method was used to carry out the kinematics modeling of the manipulator system, and the forward and Inverse kinematics equations were derived. Then, the MATLAB software was used to carry out the kinematics analysis of the manipulator, and the manipulator workspace was calculated. The movement trajectory, as well as the displacement, speed, and acceleration curves under the trajectory were obtained using the fifth order Polynomial interpolation method, Finally, the 3D model was imported into Adams software, and an Adams virtual prototype was established for dynamic analysis. The force and torque curves of each joint were obtained, laying the foundation for further design and research in the future.