Multi-body Dynamics Software RecurDyn Research Articles

The Simulation and Parameter Optimization of the Hole-Forming Process of a Duckbilled Hole-Forming Device

This paper addresses the hole-forming process of a duckbilled hole-forming device. Based on a coupled simulation using the multi-body dynamics software RecurDyn and the discrete element software EDEM, the hole-forming mechanism of a duckbilled hole-forming device and the influence of control parameters on the hole-forming performance of the hole-forming device were studied. In this paper, we analyze the direction and speed of soil particles transported under soil disturbance by a hole-forming device through the simulation and study of the hole-forming mechanism of the hole-forming device. By controlling parameters such as the traction angle, forward speed, and mass of the hole-forming device, the influence of the control parameters on the hole-forming trajectory of the duckbilled hole-forming device was investigated. Orthogonal tests determined the optimal combination of control parameters. The results show that the hole-forming process of the hole-forming device mainly comprises squeezing and shearing the soil to form holes, and the hole-forming performance of the hole-forming device was optimal when the traction angle was 17.3°, the forward speed was 1.11 m/s, and the mass of the hole-forming device was 17.9 kg.

Prediction of Bucket Fill Factor of Loader Based on Three-Dimensional Information of Material Surface

The bucket fill factor is a core evaluation indicator for the optimization of the loader’s autonomous shoveling operation. Accurately predicting the bucket fill factor of the loader after different excavation trajectories is fundamental for optimizing the loader’s efficiency and energy cost. Therefore, this paper proposes a method for predicting the bucket fill factor of the loader based on the three-dimensional information of the material surface. Firstly, the co-simulation model of loader shoveling material is established based on the multi-body dynamics software RecurDyn and the discrete element method software (DEMS) EDEM, and the co-simulation is conducted under different excavation trajectories. Then, the three-dimensional material surface information before shovel excavation is obtained from DEMS, and the surface function of the material contour is fitted based on the corresponding shovel excavation trajectory information. Meanwhile, the volume of the material excavated by the loader is obtained by the numerical integration method, and it is divided by the rated bucket volume to obtain the estimated bucket fill factor. Finally, the actual volume of the material after the shovel excavation is divided by the rated bucket volume to obtain the accurate bucket fill factor. Based on this, the prediction model of the bucket fill factor is built. The experimental results show that the proposed method is feasible, with a maximum error of 4.3%, a root mean square error of 0.025 and an average absolute error of 0.021. The research work lays the foundation for predicting the bucket fill factor of construction machinery such as loaders and excavators under real working conditions, which is conducive to promoting the development of autonomous, unmanned, and intelligent construction machinery.

Dynamics Simulation and Field Test Verification of Multi-Functional Beekeeping Loading Box Based on the Tracked Vehicle

The Korean beekeeping industry is continuously declining owing to the aging worker population and a lack of automation. To solve the problem of manual transportation and low automation of transportation tools in Korean apiculture, a multifunctional beekeeping transport loading box was developed by modifying a tracked vehicle developed in previous studies. To ensure the safety of the modified beekeeping vehicle in an apiary, a dynamic analysis of the vehicle in virtual simulation conditions and a field test inside an actual apiary were conducted. Firstly, the TRACK_LM module in multibody dynamics software RecurDyn was used to model the vehicle. Then, the model was analyzed in two use cases (bee frame loading and beehive loading), three geological conditions (clayey soil, dry sand, and upland sandy loam), and two types of terrain (s-turn and 8° slope). Meanwhile, tests under similar conditions were conducted in an actual apiary. The simulation results indicated that the modified beekeeping vehicle operated stably in the simulated agricultural apiary ground (clayey soil and upland sandy loam). The maximum pitch angles in the clayey soil and upland sandy loam conditions were 11.77° and 12.74°, respectively. However, the vehicle cannot operate under dry sand conditions on a slope because it exceeded the calculated maximum angle (34°) during operation. The maximum pitch angle of only 8.8° in the apiary transport experiment proved that the modified beekeeping vehicle could be driven safely in actual apiaries. Moreover, a comparison of the field test results with the simulation results revealed that the field test further verifies the reference value and correctness of the simulation results.

Experimental and Numerical Investigation of Solar Panels Deployment with Tape Spring Hinges Having Nonlinear Hysteresis with Friction Compensation

In this work, experimental and numerical investigation on the deployment of solar panels with tape spring (TS) hinges showing complex nonlinear hysteresis behavior caused by the snap-through buckling was conducted. Subsequently, it was verified by comparing simulation results by multi-body dynamics (MBD) analysis with test results on ground-based deployment testing considering gravity compensation, termed zero-gravity (Zero-G) device. It has been difficult to predict the folding and unfolding behavior of TS hinges because their moment–rotation relationship showed a nonlinear hysteresis behavior. To realize this attribute, an algorithm that checks the sign of angular velocity of the revolute joints was used to distinguish folding from unfolding. The nonlinear hysteresis was implemented in terms of two path-dependent nonlinear moment–rotation curves with the aid of the expression function (a kind of user subroutine) in MBD software RecurDyn. Finally, it was found that the results of the deployment analysis were in excellent agreement with those of the test when the friction torques of the revolute joints were properly identified by an inverse analysis with the test frames, thus validating the MBD model.

Adaptive robust control for tank stability: A constraint-following approach

This article addresses a control problem for tank stability based on constraint following. The objective is to design a control to drive the tank stability control system to follow a pre-specified stability constraint approximately: with the consideration of (possibly) time-varying uncertainty (including system modeling error and road excitation), if the barrel deviates from the target angle, drive it to be arbitrarily close to the target angle; and if the barrel points to the target angle, drive it to stay there. This is formulated as a problem of approximate constraint-following control. First, as the model-based control design object, the dynamic equation of the tank stability control system with the system modeling error and the road excitation is obtained. Second, as the control objective, the stability constraint is formulated. Third, as the control strategy, an adaptive robust control is proposed for approximate constraint following. Fourth, as the control object, a virtual prototype model of tank driving on bumpy road is established with multi-body dynamics software RecurDyn. Finally, real-time servo control and target observation of the tank stability system are performed by co-simulation. It shows that the constraint-following error converges quickly to [Formula: see text] in 1.5 s. By this, the tank stability control system can be always stable even if the tank is driving and disturbed with frequent road excitation.

Simulation analysis of timing belt movement characteristics based on RecurDyn

The timing belt drive is composed of a closed ring-shaped adhesive tape with corresponding teeth on the inner peripheral surface and corresponding pulleys. During exercise, the toothed teeth mesh with the pulley to transmit motion and power. The vibration problem of belt drive has always been a hot research topic. In order to analyze the vibration problem caused by belt drive, this paper makes use of the multi-body dynamics software RecurDyn belt drive simulation model. Through the model displacement sensor and the system simulation results, the various movement characteristics of the belt are analyzed.

The Development of a Customized 4-axis SCARA Robot

In this research, the Taiwan-made equipment, devices, key components, such as precision transmission system, servo motor and drive system, multi-axis controller, are employed to develop customized 4-axis SCARA robot arm. For meeting the geometric working space, load and operating conditions requirements of robot arm, the geometric design, motion simulation and analysis, standardized parts and component size inspection are accomplished. More, the multi-body dynamic software RecurDyn is used to simulate and analyze the stress, acceleration and motor torque. By adjusting the operation parameters, the customized motion schedule is completed and validated by contrasting the theoretic results. At last, the prototype machine assembled by the Taiwan-made components is tested and adjusted to meet the customized specification, thus sharing the customized industrial robot design experience with the academic and industry.

Dynamic Analysis of an Elevator Traveling Cable Using a Singularity-Free Beam Formulation

A round elevator traveling cable is modeled using a singularity-free beam formulation. Equilibria of the traveling cable with different elevator car positions are studied. Natural frequencies and the corresponding mode shapes of the traveling cable are calculated and they are in excellent agreement with those calculated by abaqus. In-plane natural frequencies of the traveling cable do not change much with the car position compared with its out-of-plane ones. Dynamic responses of the traveling cable are calculated and they are in good agreement with those from commercial multibody dynamics software recurdyn. Effects of vertical motion of the car on free responses of the traveling cable and those of in-plane and out-of-plane building sways on forced responses are investigated.

Multi-body dynamic modelling and simulation of the torsional vibration system of converters based on rigid–flexible coupling

This study aimed to examine the dynamic response of large converters to the braking process. Based on the rigid–flexible coupling theory of the multi-body dynamics, and by adopting the finite element method and multi-body dynamics software Recurdyn, this work constructed a variety of rigid–flexible coupling dynamic models of converter transmission systems. With torsional vibration of the converter furnace during braking as the object of analysis, this research studied the pattern of the impact of speed change of driving motors, braking time, and rotational damping of the system on the torsional vibration characteristics of converters during the braking process. Comparison of the simulation results indicated that the rigid–flexible coupling mode had a greater impact on the simulation results and simulation efficiency. In particular, the analysis model using elastic units in the coupling between rigid and flexible bodies could effectively simulate the torsional and vibrational response of the converter braking process. Dynamic simulation results showed that increasing the braking time and rotational damping of the driving motor could effectively reduce the torsional vibration of the furnace under certain conditions. Within the same braking time, the maximum value and the continuity of the driving motor acceleration had the greatest impact on the torsional vibration amplitude of the furnace, and optimal control of furnace torsional vibration could be achieved when the acceleration was a second-order curve.

Dynamic Analysis of Timing Silent Chain System for a V-type Engine of a Vehicle

Based on multi-body dynamic software RecurDyn, this paper proposes a modified form of timing silent chain system combing with the existing problem that vibration and chain tension is too large, which is applied for complicated conditions in a V-type engine, such as high speed, variable loads. The analysis of chain drive meshing characteristics is completed. Using the multi-body dynamic soft-ware RecurDyn, the dynamics characteristics of the improved system is studied, including chain tension, transmission error, chain fluctuations, equivalent spring force in different operating conditions. The study results show that chain tension, transmission error, chain fluctuation and equivalent spring force are within the scope of permission, all of them can meet the design requirement. There-fore, the design of this system is reasonable and practicable. The research results will provide a basis for assessing timing silent chain system in a V-type engine and a theoretical reference for designing and optimizing the timing silent chain system.

The Tooth Profile of Car Synchronous Belt Influencing on the Stress Distribution

This paper aim at the ZA type car synchronous belt, using the CATIA software create the synchronous belt and pulleys 3D model, divide synchronous belt mesh with ANSYS software, and import into the multi-body dynamics software RecurDyn and build up the dynamic simulation model of the car synchronous belt transmission through the MFBD (more flexible body dynamics) techniques. Analyzed the transmission performance of the synchronous belt、contact stress of tooth surface and tension stress. It propose the stress distribution between belt and pulley, and the distribution state of the tensile stress. It provide a digital simulation and design method to design the car synchronous belt tooth shape, analysis the transmission performance and select the material of rubber and the reinforcing cords.

Research on the Arc-Teeth Synchronous Belt's Tooth Load Distribution Caused by the Machining Error

This paper aimed at the machining error of the arc-teeth synchronous belts tooth ,the 3D model was established with CATIA ,the finite element model of belt was established by HYPERMESH ,and using the multibody dynamic software RECURDYN, the models with different machining errors were simulated by rigid-flexible coupling technology. Systematically studied the changing rule of the wedged stress and the contact stress under the influence of the machining error. So it has certain value to enhance the loading capacity, transmission performance and useful life.

Research on Mechanical-Electric Brake Simulation in Electric Drive Tracked Vehicle Based on Virtual Prototyping

In order to analyze the process of mechanical-electric brake of electric drive tracked vehicles accurately, a dynamic/kinematic model which based on multi-body dynamics software RecurDyn, and a control system model based on Matlab/Simulink were established. Both of the two models are co-simulated through the software interface technology. The brake process of the drive motor that based on vector control technology is analyzed.

Dynamic Analysis of Silent Chain Drive System for Hybrid Car

Based on study of the power transmission system theory for hybrid car, a silent chain drive system which is used to transmit power between motor and gear box was designed. Using multi-body dynamic software RecurDyn, the dynamic behavior of the silent chain system was simulated, the chain tension, meshing impact load and instantaneous transmission ratio of the drive system under different velocity was analyzed. The results show that, at the whole speed range, the chain tension is always less than the chain rotation fatigue strength (including a safety factor of 1.3 times), its able to meet the working requirements, the instantaneous impact load when link plate meshing into sprocket relate to chain tension and sprocket rotation speed, the transmission error of silent chain system is within the allowable range and can meet the transmission requirement.

Theory and experimental research on six-track steering vehicles

The structural characteristics and steering behaviour of a six-track vehicle are described in this paper. Kinematic analysis for skid steering of a six-track vehicle under steady-state conditions on firm ground is conducted, with the relationship between thrust force and speed instantaneous centre of the track–terrain interface taken into consideration. A mechanical model for steady steering of a six-track vehicle is also presented based on the kinematic analysis. In this model, the steering inaccuracy and efficiency are defined to evaluate steering performance. The steering performance of a six-track vehicle is numerically simulated to analyse the effect of the structural parameters and deflection angles on tracks. A virtual prototype model is established based on the multi-body dynamics software RecurDyn for steering simulation and the findings coincide well with theoretical results. The theory and the virtual prototype simulations presented are verified by a power test of a bucket-wheel excavator. The method for analysing the steering performance of a six-track vehicle proposed in this paper provides a basis for designing a six-track vehicle.

Analysis of Static Stability of Articulated Hydraulic Excavator with Two Degree of Freedom

In this paper, the geometric model of the hydraulic excavator with two degree of freedom was built, and then the dynamic model based on the multi-body dynamic software RecurDyn was built, and then the lateral stability and longitudinal stability of the hydraulic excavator on different gradients were analyzed, the result showed the tipping feather of the hydraulic excavator truly, and this paper provides guidance for choosing the hydraulic excavator’s working conditions.

Dynamic Simulation and Experimental Analysis on Ride Comfort Performance of Tracked Vehicle

A comprehensive nonlinear vehicle model of a tracked vehicle suspension is established by using multi-body dynamics software Recurdyn, which is used to be simulated ride comfort dynamic response. In the paper, the multi-body model dynamics vibration characters of vehicle suspension is simulated, which is accomplished by testing the model on the different roads (such as level-D,E&F Road) by different vehicle riding speed. The influence factors about ride comfort are found by the stimulation, which are the road level,the velocity of the vehicle and other parameters of the suspension system. The experiment about the vehicle ride comfort performance proves that using the multi-body model simulation in the paper could be helpful to select appropriate suspension system parameters in the structure and performance design about tracked vehicle suspension, which could give theory bases about suspension active controlling strategy of the suspension.