Automatic Dynamic Analysis Of Mechanical Systems Research Articles

Characteristics Analysis and Simulation of Permanent Magnet Actuator With a New Control Method for Air Circuit Breaker

In this paper, a new method is proposed to control the permanent magnet actuator (PMA) of air circuit breaker (ACB). The characteristics such as magnetic field, making and breaking processes are analyzed using finite-element method. The inductance and permanent magnetic parameters are computed in advance for subsequent incorporation into a cosimulation system. The simulation model is setup in Matlab and data are shared with the automatic dynamic analysis of mechanical systems (ADAMS) software. The making and breaking processes are integrated into a simulation system to allow simple observation of the simulation procedure. Experiments are carried out on an ACB prototype to verify the proposed control method.

Preliminary simulation of the GAP mechanical system for oil sands haulage

Kinematic synthesis and dynamic simulation of the Ground Articulating Pipeline (GAP) system has been carried out with Automatic Dynamic Analysis of Mechanical Systems (ADAMS) software. A kinematics model of the GAP mechanism has been built based on the kinematics of machinery. The equations of Newton-Euler dynamics were employed as the computational framework for the dynamic simulation of the system. A virtual prototype has been created and simulated in the ADAMS environment. The simulation has been integrated with real time 3-D system for detailed and responsive interactions with dynamic virtual environments. The results of the kinematics synthesis showed that the GAP system consists of 14 pipe arms and seven master carriages to accommodate a shovel advance of 400 m per week. The results of the dynamic simulation showed that the GAP system meets the operating requirement of each slave master displacement of 60 m with good operating characteristics.

TMPT tire modeling in ADAMS

Because accurate modeling of the tire-road interaction forces forms the basis for virtual prototyping analysis in the field of vehicle dynamics, tire modeling has always been a key item of the Automatic Dynamic Analysis of Mechanical Systems (ADAMS) product line. This paper briefly explains the current ADAMS offering in tire modeling and the approach taken for the TMPT benchmark program. When the TMPT benchmark program is considered as a test case for vehicle dynamics tire models, ADAMS has proved to have adequate functionality in the tire/road interface and to provide the user with a wide range of tire models to pass this test successfully.

Developing a virtual prototype of a rack and pinion steering system

The operation of an automobile steering gear is intermittent with low angular velocities and frequent direction reversals. For a typical Rack and Pinion Steering (RPS) gear used in light vehicles, the span of movement of the rack is limited to approximately four rotations of the pinion. For this limited span of rack travel, the torque required to rotate the pinion is tested for satisfactory functioning of the steering gear. The torque variation due to engagement and disengagement of the pinion teeth, mesh friction variation, and spring force that keeps the gears in mesh, etc., are obtained from the virtual prototype developed in Automatic Dynamic Analysis of Mechanical Systems (ADAMS) software, where, the manufacturing errors are also incorporated. Comparisons of the results from the virtual prototype with those from laboratory tests validate the correctness of the proposed prototype in ADAMS. This prototype lends itself for the implementation of improvement concepts and performance testing.

Dynamic simulation of operating mechanism in low-voltage moulded-case circuit breaker

A novel dynamic model of low-voltage moulded-case circuit breaker operating mechanism is created using the multibody software package ADAMS (automatic dynamic analysis of mechanical system). The model is proved by experiment. To analyse the influence of electrodynamic repulsion forces on the breaking process of the circuit breaker, the real-time repulsion force values are calculated by a binary-cubic interpolation method. The circuit, electromagnetic field and mechanism coupling equations are solved by a self-programming routine of the ADAMS secondary development to simulate the breaking process. All simulation results show that the repulsion forces accelerate the breaking of the circuit breaker. Under the condition of a prospective current of 10 kA the breaking time is shortened by about 1 ms.

Virtual prototype simulation of hydraulic shovel kinematics for spatial characterization in surface mining operations

Hydraulic shovels are large-capacity equipment for excavating and loading dump trucks in constrained surface mining environments. Kinematics simulation of such equipment allows mine planning engineers to plan, design and control their spatial environments to achieve operating safety and efficiency. In this study, a hydraulic shovel was modelled as a mechanical manipulator with five degrees of freedom comprising the crawler, upper, boom, stick, bucket and bucket door components. The model was captured in a schematic diagram consisting of a six-bar linkage using the symbolic notation of Denavit and Hartenberg (Ho and Sriwattanathmma 1989). Homogeneous transformation matrices were used to capture the spatial configuration between adjacent links. The forward kinematics method was used to formulate the kinematics equations by attaching Cartesian coordinates to the schematic shovel diagram. Based on the kinematics model, a 3D virtual prototype of the hydraulic shovel was built in the Automatic Dynamic Analysis of Mechanical Systems (ADAMS) environment to simulate the motions of the hydraulic shovel with selected time steps. The simulator was validated using real-world data with animation and numerical analysis of the digging, swinging and dumping motions of the shovel machinery. The superimposed display of the deployment of the hydraulic shovel in three phases allows a detailed motion examination of the system. The numerical results of linear and angular displacements of the bucket tip and bucket door can be used to analyse the kinematics motion of the hydraulic shovel for its optimization. This simulator provides a solid foundation for further dynamics modelling and dynamic hydraulic shovel performance studies.

Design of parallel kinematic systems using the planar enveloping algorithm and ADAMS computer program

The planar enveloping algorithm is combined with a parallel kinematic structure and a tool-optimization criterion to help in the design of a parallel kinematic machine (PKM). These three components, put together for the purpose of synthesis and design of a PKM, are defined as a parallel kinematic design system (PKDS). As a result, there are machining processes so that the PKM can be designed to use its actuators to position the tool, as well as to drive the cutting (grinding) motion of the tool, thus saving resources. This is in contrast to having a dedicated serial kinematic chain for the tool axis. The design process has successfully employed the virtual prototyping computer program ADAMS (Automatic Dynamic Analysis of Mechanical Systems) for defining the generalized coordinates and the loads in the parallel kinematic structure used to envelope convex surfaces.

Combining virtual simulation and physical vehicle test data to optimize durability testing

ABSTRACTThis paper describes an ongoing project to model a vehicle on a computer with a multibody dynamics simulation software package and to merge that work with physical proving ground and laboratory tests in order to shorten vehicle development time. The intention is to mirror as closely as possible the behaviour of a physical vehicle in order to assist in determining its durability characteristics under varying road conditions. This modelling work is important because, if done with sufficient fidelity, it can be used in order to assess vehicle responses by using different suspension components or payloads. Also, potential issues associated with vehicle structure, suspension components or payload positioning can be observed on a computer prior to performing physical tests. The process has the potential to reduce vehicle development cost and time. The virtual dynamic vehicle model has been created by using Automatic dynamic analysis of mechanical systems (ADAMS) software package. The calculated outputs from the model are being compared to force and displacement data collected from actual vehicle on‐road testing or a servo‐hydraulic road test simulator (RTS). The virtual model can be adjusted until the calculated responses are in close agreement with those of the physical vehicle, thus linking the virtual and real‐world results.

The modelling and simulation of vehicle handling Part 3: Tyre modelling

This is the third in a series of four papers (Parts 1 to 4) looking at the application of computer-based analysis methods to model vehicles and simulate vehicle handling. The material contained in these papers is based on a study carried out in order to investigate the influence of suspension and tyre modelling on the outputs predicted by vehicle handling simulations. The papers deal with analysis methods, vehicle modelling (both in the previous Issue), tyre modelling and handling simulation. In this paper an overview of the use of tyre models in vehicle dynamics is provided. This is followed by a more detailed description of three tyre modelling approaches that can be used for handling simulations. A description is also provided of a computer-based modelling system where FORTRAN routines represent the various models and a computer model of a tyre test rig is used to interrogate the models and data before integrating these into a full vehicle handling simulation. The use of this system to compare the accuracy of the tyre models under consideration is also presented. The examples used to illustrate the concepts explained throughout this series of papers have been generated using the ADAMS (Automatic Dynamic Analysis of Mechanical Systems) program.

Dynamic modeling of two cooperating flexible manipulators

In this paper, our aim is to develop a model for two cooperating flexible manipulators handling a rigid object by using lumped parameters. This model is in turn analyzed on MATLAB. In order to validate the model, a precise simulation model is developed using ADAMSTM (Automatic Dynamic Analysis of Mechanical System). Moreover, to clarify the discussion, the motions of a dual-arm experimental flexible manipulator are considered. Using the developed model, we control a robotic system with a symmetric hybrid position/force control scheme. Finally, experiments and simulations are performed, and a comparison of simulation results with experimental results is given to a rerify the validity of our model.

The modelling and simulation of vehicle handling Part 1: Analysis methods

This is the first in a series of four papers looking at the application of computer-based analysis methods to model vehicles and simulate vehicle handling. The material contained in these papers is based on a study carried out in order to investigate the influence of suspension and tyre modelling on the outputs predicted by vehicle handling simulations. The papers deal with analysis methods, vehicle modelling, tyre modelling and handling simulation. In this paper a review is provided that outlines some of the main contributions leading to the development of models and tools in vehicle dynamics, followed by an overview of the computer-based simulation methodology known as multi-body systems analysis. The way in which multi-body systems analysis can be used to generate models, formulate and solve the equations of motion and post-process the results will be discussed. The examples used to illustrate the concepts explained throughout this series of papers have been generated using the ADAMS (Automatic Dynamic Analysis of Mechanical Systems)program.

The modelling and simulation of vehicle handling Part 2: Vehicle modelling

This is the second in a series of four papers looking at the application of computer-based analysis methods to model vehicles and simulate vehicle handling. The material contained in these papers is based on a study carried out in order to investigate the influence of suspension and tyre modelling on the outputs predicted by vehicle handling simulations. The papers deal with analysis methods, vehicle modelling, tyre modelling and handling simulation. In this paper the methods used to model the vehicle systems relevant to handling simulations using a multi-body systems analysis computer program are described, with the emphasis placed mainly on the modelling of suspension systems. A range of full vehicle models, which use simplified representations of the suspension system, are also described as these models form the basis of a set of comparisons described in Part 4 of this series. Modelling of other vehicle systems such as the steering system and roll bars is also discussed. Tyre modelling is a large topic and as such is covered separately in Part 3 of this series of papers. All of the examples used to illustrate the concepts explained throughout this series of papers have been generated using the ADAMS (Automatic Dynamic Analysis of Mechanical Systems) program.

A study of the effects of the lower index methods on ADAMS sparse tableau formulation for the computational dynamics of multi-body mechanical systems

This paper studies the effects of reducing the index of the original ADAMS (automatic dynamic analysis of mechanical systems) formulation. For this, a pilot computer program MECH-SIM (MECHanical SIMulations) was developed on the basis of the original ADAMS attributes such as sparse tableau formulation (STF) and backward difference formula (BDF) [1]. The STF implemented in the original ADAMS computer program uses differential and algebraic equations (DAE). In the new formulation it eliminates the three relations connecting the body angular velocities and the angular momentum. It also reformulates the implicit force equations by substituting their functions directly into the corresponding differential equations of motion. The above reduction maintains a reasonable number of equations when the geometric constraints stabilize the velocity and/or the acceleration constraints. A method is found to measure ‘the drift’ allowed by the velocity or acceleration constraints. This permits the use of constraints stabilization only ‘when needed’. Consequently, the BDF error control improves maintenance of the efficiency of the method. The pilot computer program MECH-SIM incorporates these improvements. The program was used to test the numerical accuracy and efficiency on mechanical systems used in agricultural mechanization, industrial equipment and auto suspensions. Hence, such results can be extended to the modern ADAMS computer program.

Multi-body dynamics in full-vehicle handling analysis

This paper presents a multidegrees-of-freedom non-linear multibody dynamic model of a vehicle, comprising front and rear suspensions, steering system, road wheels, tyres and vehicle inertia. The model incorporates all sources of compliance, stiffness and damping, all with non-linear characteristics. The vehicle model is created in ADAMS (automatic dynamic analysis of mechanical systems) formulation. The model is used for the purpose of vehicle handling analysis. Simulation runs, in-line with vehicle manoeuvres specified under ISO and British Standards, have been undertaken and reported in the paper.

A MATHEMATICAL “PROTOTYPE” OF THE VEHICLE TO DESCRIBE VEHICLE HANDLING BEHAVIOUR

SUMMARY This paper presents an overview over a new kind of computation method in the field of vehicle development. The computer program applied is called ADAMS (Automatic Dynamic Analysis of Mechanical Systems). The general theory of the program is explained by a simple example. Some applications, especially with regard to vehicle handling, are described, and computation results are compared with tests.

Dynamic Continuous Path Synthesis of Industrial Robots Using ADAMS Computer Program

The ADAMS (Automatic Dynamic Analysis of Mechanical Systems) [3] is used to determine the laws of motion for the actuators of industrial robots when a continuous path and orientation for the gripper is prescribed. Simultaneously the dynamic loads in the system are determined. The results for a six degrees of freedom robot are described in animated form. The three-dimenional frames used in animation are colored and are completely computer generated.

A Sparsity-Oriented Approach to the Dynamic Analysis and Design of Mechanical Systems—Part 1

The work described herein is an extension of sparse matrix and stiff integrated numerical algorithms used for the simulation of electrical circuits and three-dimensional mechanical dynamic systems. By applying these algorithms big sets of sparse linear equations can be solved efficiently, and the numerical instability associated with widely split eigenvalues can be avoided. The new numerical methods affect even the initial formulation for these problems. In this paper, the equations of motion and constraints (Part 1) and the force function of springs and dampers (Part 2) are set up, and the numerical solutions for static, transient, and linearized types of analysis as well as the modal optimization algorithms are implemented in the ADAMS (automatic dynamic analysis of mechanical systems) computer program for simulation of three-dimensional mechanical systems (Part 2). The paper concludes with two examples: computer simulation of the front suspension of a 1973 Chevrolet Malibu and computer simulation of the landing gear of a Boeing 747 airplane. The efficiency of simulation and comparison with experimental results are given in tabular form.

A Sparsity-Oriented Approach to the Dynamic Analysis and Design of Mechanical Systems—Part 2

The work described herein is an extension of sparse matrix and stiff integrated numerical algorithms used for the simulation of electrical circuits and three-dimensional mechanical dynamic systems. By applying these algorithms, big sets of sparse linear equations can be solved efficiently, and the numerical instability associated with widely split eigenvalues can be avoided. The new numerical methods affect even the initial formulation for these problems. In this paper, the equations of motion and constraints (Part 1) and the force function of springs and dampers (Part 2) are set up, and the numerical solutions for static, transient, and linearized types of analysis as well as the model optimization algorithms are implemented in the ADAMS (automatic dynamic analysis of mechanical systems) computer program for simulation of three-dimensional mechanical systems (Part 2). The paper concludes with two examples: computer simulation of the front suspension of a 1973 Chevrolet Malibu and computer simulation of the landing gear of a Boeing 747 airplane. The efficiency of simulation and comparison with experimental results are given in tabular form.