Multi-body Dynamics Simulation Research Articles

Multibody dynamics modeling and simulation of a three-wheeled mobile robot using a robotic approach

PurposeThis paper focuses on the application of a robotic technique for modeling a three-wheeled mobile robot (WMR), considering it as a multibody polyarticulated system. Then the dynamic behavior of the developed model is verified using a physical model obtained by Simscape Multibody.Design/methodology/approachFirstly, a geometric model is developed using the modified Denavit–Hartenberg method. Then the dynamic model is derived using the algorithm of Newton–Euler. The developed model is performed for a three-wheeled differentially driven robot, which incorporates the slippage of wheels by including the Kiencke tire model to take into account the interaction of wheels with the ground. For the physical model, the mobile robot is designed using Solidworks. Then it is exported to Matlab using Simscape Multibody. The control of the WMR for both models is realized using Matlab/Simulink and aims to ensure efficient tracking of the desired trajectory.FindingsSimulation results show a good similarity between the two models and verify both longitudinal and lateral behaviors of the WMR. This demonstrates the effectiveness of the developed model using the robotic approach and proves that it is sufficiently precise for the design of control schemes.Originality/valueThe motivation to adopt this robotic approach compared to conventional methods is the fact that it makes it possible to obtain models with a reduced number of operations. Furthermore, it allows the facility of implementation by numerical or symbolical programming. This work serves as a reference link for extending this methodology to other types of mobile robots.

Comparison between quasi-static and multibody dynamic simulations for wheel-rail contact analysis

Comparison between quasi-static and multibody dynamic simulations for wheel-rail contact analysis

A rapidly trained DNN model for real-time flexible multibody dynamics simulations with a fixed-time increment

A rapidly trained DNN model for real-time flexible multibody dynamics simulations with a fixed-time increment

A new contact and road model for multi-body dynamic simulation of wheeled vehicles on soft-soil terrain

AbstractIn this paper, a new high-performance and memory-efficient contact and road model is developed. Specifically, the road is modeled as a rectangular structured grid of deformable springs in the vertical direction, thus enabling fast execution. The new road model stands out due to its ability to handle large road scenarios by allocating computer memory dynamically for each spring, resulting in efficient memory utilization. Furthermore, each spring represents a small road patch that entails various information, such as the soil elevation, the soil properties, and the soil compaction, allowing for complicated simulations incorporating spatially varying soil properties and phenomena related to the multi-pass effect. In addition, using the new contact model, complex terrain geometries are handled in a computationally efficient way by approximating locally the irregular road profile with a suitable equivalent plane. For this, two different strategies are proposed, namely the radial basis function (RBF) interpolation method and the 3D enveloping contact model. Finally, the proposed techniques are implemented in Altair MotionSolve, a comprehensive multi-body simulation software for complex mechanical systems. In particular, a single-wheel test bed is initially examined followed by a four-wheeled rover model and the next-generation NATO reference mobility model (NG-NRMM). In all cases, the proposed model is validated by using available experimental data. Lastly, a case involving both wheeled and tracked vehicles is also examined by using a shared road model.

High-Speed Train Running Characteristics Assessments Using Multibody Dynamics Simulation

The development of railway transportation in Indonesia in recent years has increased the number of new vehicles with various types and specifications. These new vehicles should pass a series of running characteristics assessments against standards to ensure safety and comfort in operation. Before the field testing, the assessments using numerical simulation in the design stage need to be done. This study aims to assess the high-speed train running characteristics through modeling and testing using multibody dynamics simulation software. The standards used for the assessments refer to EN 14363 – Testing and Simulation for The Acceptance of Running Characteristics of Railway Vehicles. The high-speed train model was built and validated through four methods with comparative values calculated analytically. The validated model was then run in the simulation to get the parameters for assessment. The parameters include the coefficient of flexibility, critical speed, safety against derailment with various methods, ride comfort, and vibration mode. The parameters obtained from the simulation are compared to the acceptance criteria specified in the standard. The results show that the vehicle performance fulfills the requirement prescribed by EN 14363 standard. After the vehicle and the track infrastructure are ready, they need to be confirmed by a series of testing performed on the main line. This study supports the development of high-speed trains in Indonesia and is expected to give more insight into the usefulness of numerical simulation to predict the characteristic of dynamic performances of railway vehicles in actual operating conditions.

Dynamic Simulation of a 5 Degrees of Freedom Rotor Dropping on a Protective Bearing

In the magnetic suspension bearing system, the protection bearing, as its key component, plays a role in supporting the safe operation of the drop rotor after the failure of the magnetic suspension bearing, to protect the whole system from damage. Based on a multi-body dynamics simulation, this paper studied the characteristics of the protection bearing, such as the speed fluctuation of the rotor and the bearing inner ring, and the contact force between the rotor and the protection bearing when the 5-DOF rotor fell on the protection bearing. By adjusting the friction coefficient, the initial speed of the rotor, and other parameters, the movement process of the rotor falling in the protection bearing was studied. By comparing the speed fluctuation and contact force of the rotor and the bearing inner race, the influencing factors and rules of the impact of the rotor falling on the protection bearing were analyzed and summarized.

The influence of asymmetric rail cant on rail corrugation in a small-radius curve section

A suitably designed rail cant can improve the wheel-rail alignment, effectively reduce the wheel-rail contact pressure and reduce the wheel-rail wear. However, the rail base cant has rarely been specifically designed for suppressing rail corrugation. Furthermore, no studies have yet been conducted on using different inner and outer rail cants in small-radius curve sections from the perspective of suppressing rail corrugations and wear. In this study, the growth rate index of rail corrugation is obtained by combining an impact hammer origin admittance test and a coupled vehicle-track multi-body dynamic model simulations. The wear depth of rail surface is obtained by combining a three-dimensional transient wheel-rail rolling contact model and Archard wear theory. From the overall perspective of preventing rail corrugation and slowing down rail wear, based on the multi-objective optimization using a particle swarm optimization algorithm, the optimal configuration of inner and outer rail cants in a small-radius curve section were determined as 1/22 and 1/40, respectively, which provided effective suppression of rail corrugation initiation and further development of rail wear.

Rotorcraft stability analysis using Lyapunov characteristic exponents estimated from multibody dynamics

AbstractStability analysis of complex, nonlinear dynamical systems is a challenge. The use of Lyapunov Characteristic Exponents through a Jacobian-less method is proposed as a means to identify the Maximum Lyapunov Characteristic Exponent, namely the fundamental stability indicator of a generic problem, solely from time series obtained through general-purpose multibody dynamics simulations of complex rotorcraft aeromechanics models. The method is first applied to a relatively simple scenario concerning the identification of ground resonance. Then, its application to more complex models is addressed by studying the aeroelastic stability and identifying the whirl flutter of the XV-15 tiltrotor using a comprehensive aeroelastic model.

Enhancing UAV elevator actuator model using multibody dynamics simulation

This paper proposes an improved actuator system model for UAV elevators using multibody dynamics simulation. The multibody dynamics simulation employs the Simscape Multibody, module in MATLAB coupled with Simulink to model the servo and hinge moment calculation. The actuator system comprises an electrical servo and mechanical components, including arms, push rods, horns, and the elevator. The electrical servo is modeled using a PID controller and a simplified motor model. The multibody dynamics simulation is employed to capture the dynamics of the mechanical components, coupled with the electrical servo through torque delivery to the mechanical components. The simulation is applied to the elevator of a medium altitude long endurance (MALE) UAV with a Maximum Take Off Weight of 1300 Kg. Generating these quantities provide a benefit in capturing the operational envelope of the servo to be compared to its limitations. Given the features of this simulation, it is proposed to extend the research by integrating this method with flight dynamics simulation.

Speed-based analysis and prediction of fatigue life for the crankshaft via genetic algorithm

To improve the accuracy of crankshaft fatigue life prediction, a new method for predicting the fatigue life of crankshafts was proposed, considering the influence of rotational speed on fatigue life. This study investigates the relationship between engine speed and crankshaft fatigue life, and the engine speed will obviously affect the fatigue life of the crankshaft. Considering the influence of different engine speeds, a crankshaft fatigue life prediction model considering the engine speed is proposed. The method first obtains the crankshaft force time domain data under different loads through multi-body dynamics simulation, and analyzes the relationship between different engine speeds and crankpins force. The crankshaft fatigue life under different loads of the engine is calculated based on fatigue damage accumulation theory. Genetic algorithm is used to find the optimization of the relevant parameters of the crankshaft fatigue life prediction model considering the engine speed and determine the values of the parameters. The fatigue life and remaining fatigue life of the crankshaft is calculated using the proposed crankshaft fatigue life prediction model according to the engine speed signal. The proposed model in this study demonstrates a higher level of accuracy, as evidenced by the result showing a prediction error of 3.45%.

Evaluation of Ground Pressure, Bearing Capacity, and Sinkage in Rigid-Flexible Tracked Vehicles on Characterized Terrain in Laboratory Conditions.

Trafficability gives tracked vehicles adaptability, stability, and propulsion for various purposes, including deep-sea research in rough terrain. Terrain characteristics affect tracked vehicle mobility. This paper investigates the soil mechanical interaction dynamics between rubber-tracked vehicles and sedimental soils through controlled laboratory-simulated experiments. Focusing on Bentonite and Diatom sedimental soils, which possess distinct shear properties from typical land soils, the study employs innovative user-written subroutines to characterize mechanical models linked to the RecurDyn simulation environment. The experiment is centered around a dual-tracked crawler, which in itself represents a fully independent vehicle. A new three-dimensional multi-body dynamic simulation model of the tracked vehicle is developed, integrating the moist terrain's mechanical model. Simulations assess the vehicle's trafficability and performance, revealing optimal slip ratios for maximum traction force. Additionally, a mathematical model evaluates the vehicle's tractive trafficability based on slip ratio and primary design parameters. The study offers valuable insights and a practical simulation modeling approach for assessing trafficability, predicting locomotion, optimizing design, and controlling the motion of tracked vehicles across diverse moist terrain conditions. The focus is on the critical factors influencing the mobility of tracked vehicles, precisely the sinkage speed and its relationship with pressure. The study introduces a rubber-tracked vehicle, pressure, and moisture sensors to monitor pressure sinkage and moisture, evaluating cohesive soils (Bentonite/Diatom) in combination with sand and gravel mixtures. Findings reveal that higher moisture content in Bentonite correlates with increased track slippage and sinkage, contrasting with Diatom's notable compaction and sinkage characteristics. This research enhances precision in terrain assessment, improves tracked vehicle design, and advances terrain mechanics comprehension for off-road exploration, offering valuable insights for vehicle design practices and exploration endeavors.

Simulation Study on the Influence of Grain Operation Conditions on the Dynamic Characteristics of Vehicle Body based on RecurDyn

At present, the grain storage depot has introduced the warehouse closing vehicle to replace the manual grain surface leveling operation. Aiming at the problems of subsidence, vibration and slipping when the warehouse car walks on the grain surface, the multi-body dynamics simulation is carried out for the four complex working conditions and load conditions of the car body in the grain depot environment, including straight running, turning, tilting and obstacle crossing, and its driving dynamic characteristics are analyzed. It can be seen from the simulation results that in the turning condition, the required driving force is the largest, the sliding condition is the most serious, the sinking degree is the deepest, and the stability is the worst. The driving dynamics of the clearance car will change suddenly when entering and leaving the pit under the obstacle crossing condition. Through the dynamic simulation results, the change law of the driving dynamic characteristics of the clearance car is summarized, and the vibration damping performance, adhesion performance and Through performance and work efficiency, it provides a theoretical basis for vehicle body design and optimization.

Modification of magnetorheological fluid and its compatibility with metal skeleton: Insights from multi-body dissipative particle dynamics simulations and experimental study

Magnetorheological fluid (MRF), as a smart material, plays a pivotal role in sealing equipment. However, the interfacial compatibility between MRF and metal significantly impacts the adhesion of the two phases, which subsequently determines the sealing performance of MRF once it is used as a sealing medium. However, the interface mechanism and dynamical magnetic migration performances between MRF and metals at the microscopic level are not clear. In this study, dissipative particle dynamics (DPD) and multi-body DPD simulations are carried out to examine the settling stability, static wetting characteristics, and magnetic migration ability of MRF droplets incorporating different surfactants. It is revealed that oleic acid stands out as the optimal surfactant for MRF, shedding light on the mechanism of MRF droplet infiltration on metal sheets and unveiling five crucial wetting processes. Furthermore, a thorough comparison among simulation results, experimental findings, and numerical analysis was conducted to verify the reliability of theoretical research on the microscale behavior of MRF. Moreover, investigating the driving characteristics of MRF droplets within a uniform magnetic field confirmed two driving processes: significant deformation and limitation of excessive diffusion. The analysis of the vortical structure within the droplets revealed the presence of diffusion effects caused by magnetic particles. The velocity distribution within the droplets indicated different flow rates, with higher velocities at the core and slower velocities at the edge, suggesting the presence of internal flow patterns.

Dynamic Performance Optimization of Monorail Rapid Transit Formation Vehicles Based on Improved Artificial Potential Field Algorithm

This paper presents a new type of monorail rapid transit vehicle, which can operate in formation. In order to optimize the dynamic performance of the formation vehic-les when passing through the small radius curve, this paper first analyzes the structure of the new monorail rapid transit vehicle, and establishes the vehicle dynamic model and multi-body dynamics simulation model. Then the improved artificial potential field algorithm is used to build the formation vehicle operation controller. Finally, the dynamic performance evaluation index of the new mono-rail rapid transit formation vehicle is formulated, and the formation vehicle passing through the small radius curve scene is simulated. The simulation results show that the controller of the formation vehicle with dynamic optimi-zation control can effectively optimize the load transfer coefficient of running wheels, unbalanced centrifugal acce-leration and roll angle of vehicle body when passing thro-ugh the curve. Through this control method, the dynamic performance of formation vehicles passing through small radius curve lines can be optimized.

Two-Way Coupling Simulation of Fluid-Multibody Dynamics for Estimating Power Generation Performance of Point Absorber Wave Energy Converters

The objective of the present study is to develop and validate a two-way coupling simulation method between viscous fluid and multibody dynamics to estimate the power generation performance of point absorber wave energy converters. For numerical analysis of fluid dynamics, an enhanced density correction model was proposed to improve the accuracy and stability of the pressure calculation in DualSPHysics, an open-source code based on smoothed particle hydrodynamics (SPH). Through 2D hydrostatic and wave generation simulations, it was seen that the relative error in the average pressure was reduced from 11.81% to 1.64%. In addition, an interaction interface was developed to enable coupling simulation with RecurDyn, a commercial software for the simulation of multibody dynamics. Simulations were performed for a 3D single-body cylinder with a simple shape and a two-body floating wave energy converter (WEC) in regular waves, varying the linear damping coefficient of the power take-off (PTO) system to verify the proposed coupling simulation method for fluid-multibody dynamics. The results were benchmarked against experimental data, revealing a relative error of 1.05% with the experimental results when employing a high damping coefficient for the PTO system. Furthermore, to improve the efficiency of the two-body WEC, two design modifications were suggested; their impact on power generation performance improvement was examined. The developed method is anticipated to contribute to research aiming to enhance the power generation efficiency of various wave power devices with multiple elements and joints, pending further validation and refinement of the simulation approach.

The use of an artificial neural network for assessing tone perception in electric powertrain noise, vibration and harshness

The transition from internal combustion engines to electric powertrains brings new challenges for the Noise, Vibration, and Harshness (NVH) analysis of these vehicles. The tonal nature of the electromagnetic excitations and of the gear meshing mechanism are reflected in the radiated noise of electric powertrains, often leading drivers and passengers to rate the noise from electric vehicles with an increased nuisance even if they are quieter than internal combustion driven powertrains. In this paper, a flexible multi-body dynamics model is developed to calculate the vibration and forces transmitted from the bearings to the housing of an electric powertrain. Acceleration, force and sound spectra data are used to train an artificial neural network to assess the prominence of tones in the noise based on the results of the structural simulation. The results show it is possible to identify psychoacoustic metrics from the multibody dynamics simulation alone. With this new approach, it is feasible to quickly investigate how changes in the powertrain will affect the tonal perception of the noise without the need of new acoustic simulations and experiments. For the tonal perception analysis, the Prominence Ratio is used as a metric. This framework of combining multibody dynamics simulation with initial acoustic data and neural networks can be also applied to different NVH metrics as appropriate.

Optimizing and designing upper-stage separation spring of lifting-body rocket

Because the upper-stage separation of a lifting-body rocket is difficult under the low-altitude and high-speed flight environments, an upper-stage separation scheme based on the separation spring is proposed. The integration of ADAMS and MATLAB realizes the multi-body dynamics simulation analysis of upper-stage separation. The experimental design method is used to carry out the target simulation and calculation of the upper-stage separation process, with the separation condition deviation and the separation spring deviation considered at the same time, thus ensuring the reliability of the separation scheme. In order to further optimize the separation scheme, an upper-stage separation optimization model is established with the Isight software, and the mass of separation spring is optimized with the multi-island genetic algorithm and significantly reduced by 48.87% under the condition that the upper-stage separation process satisfies all constraints, thereby effectively improving the performance of the lifting-body rocket.

A nonlinear analytical approach for estimating vehicle braking distance based on multi-body dynamic simulation

A nonlinear analytical approach for estimating vehicle braking distance based on multi-body dynamic simulation

Sensitivity of Mass Geometry Parameters on E-Scooter Comfort: Design Guide.

E-scooter vibrations are a problem recently studied. Theoretical models based on dynamic simulations and also real measurements have confirmed the high impact of e-scooter vibrations on driver comfort and health. Some authors recommend improving e-scooter damping systems, including tyres. However, it has not been suggested nor has any research been published studying how to improve e-scooter frame design for reducing driver vibrations and improving comfort. In this paper, we have modelled a real e-scooter to have a reference. Then, we have developed a multibody dynamic model for running dynamic simulations studying the influence of mass geometry parameters of the e-scooter frame (mass, centre of gravity and inertia moment). Acceleration results have been analysed based on the UNE-2631 standard for obtaining comfort values. Based on results, a qualitative e-scooter frame design guide for mitigating vibrations and increasing the comfort of e-scooter driver has been developed. Some application cases have been running on the multibody dynamic simulation model, finding improvements of comfort levels higher than 9% in comparison with the e-scooter reference model. The dynamic model has been qualitatively validated from real measurements. In addition, a basic sensor proposal and comfort colour scale is proposed for giving feedback to e-scooter drivers.

A multibody-dynamics based method for the estimation of wear evolution in the revolute joints of mechanisms that considers link flexibility

Mechanical systems are subject to multiple imperfections due to manufacturing and assembly defects, or to wear. Wear critical, because it involves degradation of the joints, increased clearances and, hence, increased contact forces, fatigue, etc. Although the computational estimation of wear evolution and its effect on the system can be difficult, multibody dynamics simulations have proved to be very useful.In this work, the aim is developing a method for simulating wear in revolute joints of planar mechanisms considering flexibility in the links, for obtaining realistic information about the evolution of the dynamic behaviour and the degradation of the mechanism. The proposed method is based on the multibody dynamics approach and provides a detailed description of the involved phenomena (flexibility, contact and wear), seeking a good compromise between accuracy and efficiency. To this end, it combines several modelling procedures that are scattered in the literature.The method is applied to the case study of a slider-crank mechanism with a flexible coupler. Results show that consideration of flexibility strongly affects the mechanism behaviour and the estimation of wear evolution in the joint.