Simulation Software ADAMS Research Articles

Dynamic Load Analysis of Mine-Truck Using Multibody Dynamic Analysis Method

Abstract: Vehicle load distributed on front & rear axle assembly during various working conditions is one of the most important factors influencing working performance and service life of drive axle assembly. The dynamic load on axle assembly is higher compared to the rated load because of variations in vehicle speed and road surface conditions. Early failure of structural components is caused because of higher dynamic reaction forces due to uneven road profiles. The dynamic load calculation of axle assembly is presented in this paper for a Mine-truck with various road conditions and vehicle speeds. The road load conditions consist of grade, bump & path hole. Mine-truck with payload capacities of 63 Ton is considered for the study. The behaviour of vertical force is calculated for different vehicle speeds (3 - 12 km/hr.) of the machine on the front & rear axle assembly during running conditions. Multi-body dynamic Analysis tool ADAMS is used for this study. ADAMS helps to study the dynamics of moving parts and load distribution throughout mechanical systems during motion. The Mine-truck3D model was created with the help of computer-aided design (CAD) software. Major units of Mine trucks are considered to prepare 3D models like Cabin-engine mass, Bucket, front axle assembly, rear Axle assembly & tires. Multi-body vehicle models are prepared in simulation software ADAMS by importing 3D models prepared by computer-aided design (CAD) software. This provides guidelines for selecting dynamic load factors while designing structural parts of the vehicle.

A New Design of Vibration Damping Structure for Positive Displacement Motor

Positive displacement motor (PDM) is a downhole power drilling tool, and the bottom of the drilling tool is directly connected to the drill bit. During the drilling process, the drilling tool will be directly affected by the impact load caused by the drill bit breaking the rock. Severe vibration can easily cause drill tool bearings to break and fail, threads to trip and other problems. The new PDM vibration damping structure uses wear-resistant and heat-resistant metal rubber instead of disc springs as energy-absorbing materials, and designs a "keyway type" vibration damping structure; a two-degree-of-freedom "spring - mass" model is established based on actual working conditions. , determine the basic size of the metal rubber pad based on the metal rubber stress-strain curve, and bring it into the drilling tool dynamics equation to verify that the stiffness and damping parameters of the metal rubber pad will not resonate; finally, compare the drilling conditions under different excitations in the dynamics simulation software The amount of impact the tool receives. Finally, the dynamics simulation of the new vibration-damping drilling tool under different frequency excitations was carried out in Adams simulation software, and it was concluded that in the common working environment of 6-15 Hz, the new vibration-damping drilling tool can effectively reduce the stress on the drilling tool. Impact force, the new vibration-damping drilling tool can reduce the impact force by about 40% when excited at 12 , 15 Hz . The conclusions drawn from the study have reference value for the development of long-life drilling tools and the design of drilling tool vibration damping structures.

Dynamic modeling and crawling gait control of six-strut spherical tensegrity robot

In this paper, the crawling gait control of a six-strut spherical tensegrity robot is studied. The dynamic model of the robot is established by Newton-Euler equations, and the numerical simulations are constructed in MATLAB. The correctness of numerical simulation is verified by using ADAMS simulation software. Next, the motion mechanism of the crawling gait is considered, and parameters such as gravity cone and gravity moment are introduced, the initial configuration, active cables and driving parameters range suitable for robot crawling gait are obtained. Taking the maximum distance moved by the robot in a certain direction as the optimization objective, the problem of controlling the crawling gait is transformed into an optimization problem, and the particle swarm optimization algorithm is used to optimize the driving parameters of the crawling gait. The motion performance of the robot is evaluated by three indicators: motion velocity, driving energy consumption, and moving direction deviation. Two methods for optimizing the motion performance are proposed. Finally, an experimental platform is set up to carry out the crawling gait experiment and verify the above methods. The research results can provide technical support for further engineering applications of the six-strut spherical tensegrity robot.

Design and analysis of three-dimensional braiding machine with track change interlocking

When performing three-dimensional braiding, the carrier base of a conventional braiding machine can only be move on a single track, but cannot be switched between tracks. In this study, a three-dimensional braiding machine with orbital change interlocking is designed to realize the carrier track change. Aiming at the crucial components in track change interlocking mechanism, the track change process is separated into seven periods, and the driving function of slider and electric rotary are obtained. The kinematics model of track change interlocking mechanism is established, the velocity, position and trajectory of carrier base are analyzed on ADAMS simulation software. The results show that the carrier base maximum velocity is −226.51 mm/s, the carrier base maximum position is 68.30 mm, and the carrier base maximum vibration is 0.14 to 1.08 mm in track change process, prototype test indicate that three-dimensional braiding machine with track change interlocking is feasible, provides reference for the future design of three-dimensional braiding machine.

Dynamic Model and Parameterized Design of Prosthetic Knee

Abstract In this paper, an intelligent prosthetic knee joint was designed, and the dynamic model was established by using Lagrange theory to carry out the parametric design of the intelligent prosthetic knee joint. The parametric prosthetic leg was simulated by ADAMS simulation software, the performance of the prosthetic leg was tested, and the driving torque and damping force of the prosthetic leg were analyzed under different road conditions. The results showed that the drive torque of the prosthesis varied widely, requiring a larger drive torque during swinging. During the swing period, the damping force was larger. Compared with going up stairs and going up slopes, the damping force was the largest when going down stairs and going down slopes. Therefore, the intelligent prosthetic knee joint can lay a solid foundation for good gait, and at same time, the structure and good parametric design can make the intelligent prosthetic knee joint achieve good performance.

联合收获机割台高度自动控制系统的设计与试验

Aiming at the problems of poor applicability of traditional header height detection mechanism, poor stability and large lag of automatic control system of combine harvesters, an automatic control system of header height of combine harvester was designed, which mainly included the profiling mechanism, controller, proportional valve, manual operation handle and display module. The profiling detection mechanism was composed of angle sensor, profiling plate, torsion spring and other structures. The key structural parameters of the profiling mechanism were determined by using the Adams simulation software and its working performance was verified. The gray prediction PID algorithm of header height was used to reduce the lag of the control model. The control system detected the height of the header from the ground through the profiling mechanism. After being processed by the controller, the height of the header was changed by adjusting the expansion of the header oil cylinder. The field test results showed that the working performance of the header automatic control system was stable. Under the working conditions of preset header height of 100mm and 200mm, the average deviation of the control system was within 21 mm, which met the real-time control demand of header height during normal operation of combine harvester. This research could provide intelligent design methods of combine harvesters.

Research on programmable spatial capture mechanism and its motion characteristics based on origami principle

In view of the requirements to capture non-cooperative targets in space debris removal tasks, this study designs a programmable spatial capture mechanism using the closed envelope characteristic of the origami mechanism. An enveloping origami mechanism was proposed, and a programmable parametric design was implemented. First, a kinematic model of the origami mechanism was established, and the motion law of the axisymmetric folding state of the origami mechanism was analysed. The folding performance of the origami mechanism under the three parameter characteristics of equal proportions of crease length, folding plate area, and configuration angle was analysed/established. The optimal parameters of the origami mechanism with closed edges, large envelope space, smooth envelope contour, small windup, and smooth folding motion were obtained. The driving mechanism was designed based on the motion characteristics of the axisymmetric folding origami mechanism. Adams simulation software was used to simulate the capture of space debris by origami mechanisms in a microgravity environment. The simulation results show that the origami mechanism can achieve space debris capture with high reliability, high tolerance, and enveloping.

Gait Simulation Research of 2-DOF Lower Limb Rehabilitation Robot Based on ADAMS and MATLAB

The two-degree-of-freedom (2-DOF) lower limb rehabilitation robot is developed to promote the functional recovery of hemiplegic patients. In order to improve the gait movement and shorten the development cycle, co-simulation technology is used to simulate and analyze the lower limb rehabilitation robot. ADAMS simulation software is used to model and analyze the dynamics of the robot and the MATLAB/Simulink module is used to build a PID control system to track the gait of the robot. In ADAMS dynamic simulation, the model walks according to the target trajectory, which verifies the correctness of the virtual prototype. In ADAMS and MATLAB co-simulation, the model follows the target trajectory to complete the gait. The trajectory tracking error was less than 1°.

Research on the Obstacle-Avoidance Steering Control Strategy of Tracked Inspection Robots

Tracked inspection robots possess prominent advantages in dealing with severe environment rescue, safety inspection, and other important tasks, and have been used widely. However, tracked robots are affected by skidding and slipping, so it is difficult to achieve accurate control. For example, the control parameters of a tracked robot are the same during driving, but the pressure, shear force and steering resistance of the robot on the road surface are different, which affects the steering characteristics of the robot on complex terrain. Based on analysis of the structural parameters and steering radius of the robot, the traction force and resistance torque models of the tracked robot were established, and the plane dynamics of the robot’s steering were analyzed and solved. The corresponding relationships between the road parameters, relative steering radius, and lateral relative offset of the robot on three typical roads were obtained. Mathematical models of the robot’s track speed and relative steering radius with and without skid and slip were established. Through simulation analysis of Matlab software, the corresponding relationship between the relative steering radius of the robot and the velocity difference of the two tracks were obtained. Taking angular obstacles as an example, three obstacle-avoidance steering control strategies, once turning in situ center, twice turning in situ center, and large-radius steering were developed. The tracked robot and obstacle multi-body dynamic simulation models were constructed using ADAMS simulation software. The simulation results show that all three methods can complete the steering tasks according to the requirements; however, under the influence of skid and slip, the trajectory of the robot deviates from the ideal trajectory, which has a great impact on large-radius steering, even though the large-radius obstacle-avoidance steering control strategy has the advantages of a smooth trajectory, fast steering speed, and high efficiency. The obstacle-avoidance steering experiments were completed by the robot prototype, which verifies the rationality of robot steering theory, which could provide the corresponding theoretical basis for autonomous obstacle-avoidance navigation control of a tracked robot.

Design and Dynamic Analysis of the Recirculating Planetary Roller Screw Mechanism

The recirculating planetary roller screw mechanism (RPRSM) is a transmission mechanism that engages the screw and nut threaded by multiple grooved rollers. In this paper, firstly, the design method of RPRSM nut threadless area is proposed, and the equations related to the structural parameters of nut threadless area are derived. On this basis, the cross-section design method of roller, screw and nut is constructed according to the actual situation of engagements between the screw/nut and the roller. By adjusting the gap between the two beveled edges and that between the arc and the beveled edge, the accuracy of the thread engagements between the screw/nut and the roller can be improved. Secondly, to ensure the engagements of the screw/nut and the roller, the distance equation from the center surface of the different rollers to the end surface of cam ring is given. Thirdly, combined with the working principle and structural composition of RPRSM, the component model is established according to its relevant structural parameters, and the virtual assembly is completed. Finally, the 3D model is imported into the ADAMS simulation software for multi-rigid body dynamics. The dynamic characteristic is analyzed, and the simulated values are compared with the theoretical values. The results show that the contact forces between the screw/nut and the roller are sinusoidal, mainly due to the existence of a small gap between the roller and the carrier. The maximum collision forces between the roller and cam ring are independent from load magnitude. Normally, the collision force between the roller and the carrier increases as the load increases. When RPRSM is in the transmission process, the roller angular speed in nut threadless area begins to appear abruptly, and the position of the maximum change is at the contact between the roller and the convex platform of cam ring. The design of the nut threadless area and the proposed virtual assembly method can provide a theoretical guidance for RPRSM research, as well as a reference for overall performance optimization.

A fuzzy logic neural network algorithm for compressor crankshaft-rolling bearing system optimization

Taking the crankshaft-rolling bearing system in a certain type of compressor as the research objective, dynamic analysis software is used to conduct detailed dynamic analysis and optimal design under the rated power of the compressor. Using Hertz mathematical formula and the analysis method of the superstatic orientation problem, the relationship expression between the bearing force and deformation of the rolling bearing is solved, and the dynamic analysis model of the elastic crankshaft-rolling bearing system is constructed in the simulation software ADAMS. The weighted average amplitude of the center of the neck between the main bearings is used as the target, and the center line of the compressor cylinder is selected as the design variable. Finally, an example analysis shows that by introducing the fuzzy logic neural network algorithm into the compressor crankshaft-rolling bearing system design, the optimal solution between the design variables and the objective function can be obtained, which is of great significance to the subsequent compressor dynamic design.

Design and simulation analysis of impact-resistant flexible drill pipe for rock-breaking rig

In the process of drilling and coring by the rock-breaking rig, the drill rod is affected by the intermittent impact force, which reduces the efficiency of the rig to break the rock and increases the cost of the drilling and coring. Therefore, it is very important to improve the impact resistance of the drill pipe during the rock-breaking process. To achieve this goal, a flexible design of the drill pipe was carried out, and a dynamical model of the drilling rig based on a series elastic actuator was established. Considering the dynamic performance of the system, a torque feedforward link is introduced and a control model based on the force source is established. The influence of the equivalent inertia of the transmission system and the series elastic actuator damping coefficient on the system stability was analyzed by drawing the frequency domain characteristic curve of the system. By using the control and Simulink simulation software, the electromechanical simulation of the model is carried out, and the torque step tracking response of the system is obtained. A torque feedforward link is introduced to establish the control model of the system based on force source. Through dynamic simulation software ADAMS, dynamic and static impact simulation experiments were carried out on the system. The results show that when a force of 200 N is applied to the output end of the drill pipe in the tangential direction, the maximum moments received by the joint under static and dynamic environments are 34.1 N·m and 57.9 N·m, respectively. When the impact force disappears, the time required for the flexible drill pipe to reach a stable state is only 0.15 s, which verifies that the series elastic actuator–based drill pipe model can alleviate the impact of the external environment and protect the internal structure of the rig.

Structural Dynamics Simulation Analysis of Industrial Robot Arm Based on Kane Method

When the traditional methods are used to analyze the dynamics of the robot arm structure, the stability of the arm structure is not good and the simulation effect of the operation process is not good. For this reason, Kane method is introduced in this paper to carry out dynamic simulation analysis of industrial robot arm structure. The operating process of the industrial robot arm structure was simulated by Kane method, and the angular acceleration of the robot’s main arm, forearm and push rod was solved in each cycle. The Jacobian matrix of the 5 degree of freedom manipulator joint is established, the singular configuration of each joint is calculated, and multiple joint variable combinations are generated by random number. The forward motion equation of the robot endpoint set was solved to obtain the endpoint set of the robot. The Lagrangian method was used to model the robot with Kane 3D simulation software to simulate and analyze the dynamic process of the driving torque required to grab the mass workpiece at the three joints. The joint motion model of robot is established on ADAMS simulation software, and the torque curve of the rotating joint of industrial robot arm structure is obtained. MATLAB simulation software is used for simulation. The results show that the integrated design method of manipulator and machine tool is correct, which provides a comprehensive data basis for the selection of servo motor.

Numerical simulation and structure optimization of control rod drop impact in floating reactor

In order to simulate the impact of control rod assembly on upper grid plate of reactor core after emergency shutdown of offshore floating reactor, the structure size of upper grid plate was optimized. In this study, ADAMS simulation software was used to simulate the impact stress and strain of 50 mm and 100 mm thick upper grid plate with and without spring buffer at 0.5 m / s impact speed. Therefore, the thickness of the buffer plate on the grid can be reduced, and the simulation results show that the buffer plate can be optimized effectively.

A Hyper-redundant Elephant\u2019s Trunk Robot with an Open Structure: Design, Kinematics, Control and Prototype

As for the complex operational tasks in the unstructured environment with narrow workspace and numerous obstacles, the traditional robots cannot accomplish these mentioned complex operational tasks and meet the dexterity demands. The hyper-redundant bionic robots can complete complex tasks in the unstructured environments by simulating the motion characteristics of the elephant’s trunk and octopus tentacles. Compared with traditional robots, the hyper-redundant bionic robots can accomplish complex tasks because of their flexible structure. A hyper-redundant elephant’s trunk robot (HRETR) with an open structure is developed in this paper. The content includes mechanical structure design, kinematic analysis, virtual prototype simulation, control system design, and prototype building. This design is inspired by the flexible motion of an elephant’s trunk, which is expansible and is composed of six unit modules, namely, 3UPS-PS parallel in series. First, the mechanical design of the HRETR is completed according to the motion characteristics of an elephant’s trunk and based on the principle of mechanical bionic design. After that, the backbone mode method is used to establish the kinematic model of the robot. The simulation software SolidWorks and ADAMS are combined to analyze the kinematic characteristics when the trajectory of the end moving platform of the robot is assigned. With the help of ANSYS, the static stiffness of each component and the whole robot is analyzed. On this basis, the materials of the weak parts of the mechanical structure and the hardware are selected reasonably. Next, the extensible structures of software and hardware control system are constructed according to the modular and hierarchical design criteria. Finally, the prototype is built and its performance is tested. The proposed research provides a method for the design and development for the hyper-redundant bionic robot.

Kinematics modeling and simulation analysis of sugarcane harvester hybrid drive collection mechanism with three degrees of freedom

In view of the problems existed of sugarcane harvester in China, the paper analyzes the types and characteristics of the existing sugarcane collection mechanism. A new type of three degree of freedom sugarcane harvester hybrid drive collection mechanism was designed in three dimensions. The geometric model of the new configuration related components and the overall assembly was established. And imported into the ADAMS simulation software. After the simulation, the working point and the force curve of the component node were output and analyzed. In order to obtain the motion law of the new three-degree-of-freedom stacking mechanism, verify the correctness of the theoretical model, and provide reference for the in-depth research and prototype trial production of the stacking mechanism in the future.

Stability Analysis and Experimental Study of Portable Missile Control Device Test

According to the stability requirement of the missile launcher in operating the portable missile launching control device, a structure is designed. Firstly, the structural mechanics theory method is used to analyse the deflection of the outrigger. The force bending of the sector plate is analysed and the bending displacement of the rigid frame after the column is simplified is analysed. Then the main structure of the portable missile launching device is given and the stability of the outrigger, base and column system is analysed and simulated by ANSYS and ADAMS simulation software respectively. Finally, the stability of the equipment was tested to verify the calculation and analysis of the stability of the device. The feasibility and rationality of the design of the portable missile launching device was confirmed.

Crawling Gait Planning and Simulation Analysis of Closed-chain Walking Leg Robot

This paper presents a new type of closed-chain walking leg mechanism, which can swing through a crank-rocker mechanism, and a crank-slider mechanism to achieve leg extension. On this basis, a quadruped robot is constructed, the crawling gait planning is carried out, and the leg swinging time sequence of the robot crawling is given. Based on ADAMS simulation software, the virtual prototype model of quadruped robot is established, and the relative simulation parameters are set up to simulate the robot motion. The displacement curve and velocity curve of the body centroid and foot end of the quadruped robot are obtained. The simulation results show that the quadruped robot can walk stably in the crawling gait.

Motion control analysis of hybrid grinding and polishing machine tool for blade finishing

Blade is the key component in the energy power equipment of turbine, aircraft engines and so on. Research on the process and equipment for blade finishing becomes one of important and difficult points. The motion control of hybrid grinding and polishing machine tool is different from that of traditional machine tool, and there exists motion coupling phenomenon when it moves as a whole. In order to control precisely motion of machine tool, the inverse and forward kinematics solution considering motion coupling of parallel mechanism was solved based on designed hybrid grinding and polishing machine tool for blade finishing in this paper. Firstly, the coupling factor of parallel mechanism was taken into account in the new model, and the inverse kinematics solution was modified to improve the solution accuracy. Then, the forward kinematics solution of machine tool based on inverse kinematics solution was solved. Finally, the motion simulation was made to verify the inverse and forward kinematics algorithm based on kinematic coupling factor of parallel mechanism by simulation software ADAMS. The simulation result shows that the inverse and forward kinematics solution deduced is correct, which provides theoretical basis for the motion control scheme of machine tool calibration and inspection control system.

Dynamic Simulation Research of Hydro-Mechanical CVT

In order to study the complex dynamic characteristics of hydro-mechanical CVT (hydro-mechanical continuously variable transmission), the gearbox machine dynamics simulation model based on AMESim was established for the most important of confluent planetary gear mechanism in the gearbox. Creo2.0 was used to draw 3D virtual prototype, and according to the actual movement of the link, added the corresponding constraints to get the planetary dynamics simulation model based on the multi-body dynamics simulation software ADAMS. Based on the classical formula of gear meshing force, the theoretical values of meshing force of planetary gear were calculated, and the dynamics analysis of planetary gear was carried out by using ADAMS. The simulation results were basically consistent with the theoretical values. It researched the influence of the speed regulation process on planetary gear engagement impact under the three case: speed regulation rate and speed direction, speed regulation under different load levels and different engine speed. The speed regulation under speed regulation rate and different load levels had obvious impact on planetary gear meshing force, the impact degree increased with the increasing of speed regulation rate and load; this work has good engineering and application value, and provides the reference for the structure optimization and adjustment.