DYNAMIC MODELLING OF BAR-GEAR MIXED MULTIBODY SYSTEMS USING A SPECIFIC FINITE ELEMENT METHOD

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斜齿行星传动多体动力学建模与分析

建立了斜齿行星传动的多体动力学模型,对其进行了动态特性仿真,获知了该类系统的自由振动特性、稳态动力响应以及部分设计参数对系统动态特性的影响规律。根据系统特征值的重根数、中心构件的振型坐标及各行星轮间振型坐标的比例,将斜齿行星轮系的自由振动归结为3类典型振动模式,即：轴向平移—扭转振动模式、径向平移—扭摆振动模式和行星轮振动模式,并进一步给出了各类模式的特点。当不考虑构件自身柔性时,基于多体动力学模型的自由振动特性与前人的集中参数模型的仿真结果完全一致,表明了本文所建模型的正确性。斜齿行星轮系的稳态动力学响应表明,内、外啮合力在一个啮合周期内围绕静态均值作较大幅度的波动,而啮频激励是引起该类系统振动的主要原因。参数影响分析表明,构件支承刚度和行星轮周向安装误差对系统动态特性的影响明显,浮动太阳轮、严控行星轮周向安装误差可有效抑制系统的振动。     

On-line and off-line wheel/rail contact algorithm in the analysis of multibody railroad vehicle systems

An on-line and off-line hybrid contact algorithm for modeling wheel/rail contact problems is developed based on the elastic contact formulation. In the hybrid algorithm developed in this investigation, the off-line tabular search is used for predicting the location of tread contact points, while the on-line iterative search is used for predicting flange contact points. By so doing, a computationally efficient procedure is achieved while keeping accurate predictions of contact points for severe contact scenarios such as sharp curve and turnout negotiations. The use of the proposed hybrid algorithm can eliminate the time-consuming on-line iterative search for the second points of contact. Since the location of the second point of contact is pre-computed by the contact geometry analysis, the occurrence of two-point contact can be predicted by using the look-up table at the one-point contact configuration. A flange climb simulation demonstrates that the proposed hybrid contact search algorithm can be effectively used for modeling wheel/rail contacts in the analysis of general multibody railroad vehicle systems. This paper was presented at the 4th Asian Conference on Multibody Dynamics(ACMD2008), Jeju, Korea, August 20–23, 2008. Hiroyuki Sugiyama received his Ph.D. from the University of Illinois at Chicago in 2005. Dr. Sugiyama is currently an Assistant Professor at Tokyo University of Science, Tokyo, Japan. His research interests include the development of computer formulations for contact problems in vehicle systems and the large deformation problems of constrained multibody systems. Kohei Araki received his BS degree in Mechanical Engineering from Osaka City University in 2006. Mr. Araki is currently a Master’s student at Osaka City University, Osaka, Japan. His research interest is in the modeling of wheel/contact problems in railroad vehicle dynamics. Yoshihiro Suda received his Doctoral degree from the University of Tokyo in 1987. Dr. Suda is currently a Professor at the University of Tokyo, Tokyo, Japan. His research interests are in the dynamics of railroad vehicles and automobiles, in-telligent transportation systems (ITS) and personal mobility vehicles. He is currently serving as an Associate Editor of the IMechE Journal of Multi-Body Dynamics.     

Sloshing cargo in silo vehicles

The driving stability of silo vehicles is significantly affected by the type of cargo that is transported and the design of the tank. Cargo motion can have both beneficial and negative aspects in terms of driving stability and braking performance. Neglecting the influence of the dynamically moving cargo in driving simulations of silo vehicles leads to significant errors in the simulation results. We propose a new method for the dynamic simulation of silo vehicles carrying granulates. The method couples Lagrangian particle methods, such as the discrete element method, and multibody systems methods using co-simulations. We demonstrate the capability of the new approach by providing simulation results of two benchmark maneuvers. This paper was presented at the 4th Asian Conference on Multibody Dynamics(ACMD2008), Jeju, Korea, August 20–23, 2008. Florian Fleissner received his Dipl.-Ing. degree in Mechanical Engineering from the University of Erlangen, Germany, in 2003. He is currently working as research and teaching assistant, completing his Ph.D. in Mechanical Engineering at the Institute of Engineering and Computational Mechanics at the University of Stuttgart, Germany. Vincenzo D’Alessandro graduated in 2008 in Mechanical Engineering at the Politecnico di Milano, Italy. He is currently working as a Ph.D. candidate in Mechanical Engineering at the department of mechanical engineering at the Politecnico di Milano. Werner Schiehlen was educated as a mechanical engineer and received a Ph.D. on satellite dynamics in 1966. After working for 10 years with the Technical University Munich and spending one year with NASA in the US he was appointed full professor of mechanics with the University of Stuttgart until his retirement in 2002. He published more than 320 scientific papers in applied and computational dynamics including 7 books mostly translated in foreign languages, too. Werner Schiehlen served as President of IUTAM. Since 1997 he is Editor-in-Chief of the international journal MULTIBODY SYSTEM DYNAMICS. Peter Eberhard received his Dipl.-Ing. in Mechanical Engineering, his Dr.-Ing. and his Habilitation in Mechanics from the University of Stuttgart in Germany. In 2000 he was appointed as Professor of Mechanics and System Dynamics at the University of Erlangen-Nuremberg before he became 2002 Full Professor and Director of the Institute of Engineering and Computational Mechanics at the University of Stuttgart. In 2000 he received the Richard-von-Mises award and in 2007 an Honorary Professorship at the Nanjing University of Science and Technology, P.R. China. His research interests include multibody dynamics, contact mechanics, mechatronics, optimization and biomechanics.     

Development of a motion simulator for testing a mobile surveillance robot

A 6-axis motion simulator has been developed, in order to regenerate UGV (unmanned ground vehicle) motion and to test the stabilization system of the mobile surveillance robot that is mounted on the UGV. For developing the 6-axis motion simulator, a simulation-based design procedure was introduced. The 3D geometric model of the motion simulator was created by using 3D CAD modeler ProE. The multibody dynamics model of the motion simulator has also been created by using the general purpose dynamic analysis program ADAMS to validate the design of the motion simulator. Dynamics and control co-simulation model for the motion simulator has been also established for control performance analyses. Actual hardware of the motion simulator has been fabricated based on the proposed simulation based design. Hardware test of the motion simulator has been tried to validate the design. This paper was presented at the 4th Asian Conference on Multibody Dynamics(ACMD2008), Jeju, Korea, August 20–23, 2008. Oskar Wallrapp was awarded a Ph.D. degree in Mechanical Engineering at the Technical University of Berlin, Germany in 1989. Dr. Wallrapp is currently a Professor in the Department of Precision and Micro Engineering, Muenchen University of Applied Science, Munich, Germany. His research interests are mechanism analysis and design, robotics, and bio-mechanics. Sung-Soo Kim received a Ph.D. degree in Mechanical Engineering from the University of Iowa in 1988. Dr. Kim is currently a Professor in the Department of Mechatronics Engineering at Chungnam National University in Daejeon, Korea. His research interests are real-time multibody formulation and its application to the automotive systems and military robot systems.     

Effect of manufacturing tolerances on dynamic equilibria of multibody systems undergoing prescribed rotational motion

A general formulation is developed for the tolerance analysis of dynamic equilibria in a multibody system undergoing prescribed rotational motion, with applications including robots, spacecraft, propulsion and power generation systems, and sensors and actuators. In a state of dynamic equilibrium, a subset of the generalized coordinates assumes constant values while the remaining coordinates vary and respond in time. Manufacturing tolerances can be mathematically represented by probabilistic distributions or statistical variables through either an analytical approach or a Monte Carlo simulation. In the present tolerance work, the tolerances of design parameters including lengths, stiffnesses, inertias, and attachment positions are examined. In order to analytically calculate the statistical response of the dynamic equilibrium positions to such tolerances, the first-order sensitivities of the equilibria with respect to parameters are calculated. To illustrate the method’s accuracy and computational efficiency, two numerical examples are considered, and the statistical results obtained analytically for the equilibria are compared with those calculated through Monte Carlo simulation. In some cases, an equilibrium configuration can have an operating condition for which the response has zero standard deviation to perturbations of a design parameter. That condition can be a useful design point to the extent that typical manufacturing tolerances or other sources of variation would have no effect on the dynamic equilibrium configuration.     

A system for multibody analysis based on object-relational database technology

An efficient support for computational technology and information management will be critical in future Engineering Information Systems (EIS). This paper shows how it is possible to provide efficient data management capabilities to the discipline of Multibody System (MBS) analysis. The MECHAMOS prototype of a MBS analysis tool has been developed that is based on an object-relational database management system, AMOS, which has been extended with additional mathematical functionality by the use of Matlab and MapleV as computational engines. The MBS model is represented as a database model in AMOS and the analysis is based on symbolic formulation of Kane's equations of motion. With this configuration, data is made fully accessible via the AMOSQL query language of AMOS. Furthermore, by providing the MBS application with general database technology, the data management will be more efficient in terms of handling large amounts of data and the development and maintenance of MBS analysis systems. Since MBS models are represented in a “neutral format”, the reusability of these models increases and they will be more persistent to changes in the EIS environment.     

ZK6型转向架摇枕疲劳寿命分析

将多体动力学和有限元法相结合,以有限元法（FEM）和多体动力学对转向架摇枕疲劳寿命进行分析。以我国某型铁道货车为例,在多体动力学软件SIMPACK中建立整车模型,提取其转向架摇枕的时间一载荷历程,然后利用有限元软件ANSYS获得结构的动应力响应因子;最后,基于动载荷历程和Palmigren—Miner线性损伤理论,利用n—soft软件进行疲劳寿命分析。     

虚拟环境中基于多体动力学的实时仿真

该文通过分析主流虚拟现实开发工具的特点和不足，提出在虚拟现实开发过程中运用多体动力学的理论和方法，使得虚拟环境中的对象行为更加符合真实世界，并介绍了使用虚拟现实开发工具worldlbolKit结合多体动力学仿真开发引擎Vortex在此领域做出的有益尝试。同时，该文对Vortex采用的仿真机制和算法进行了充分的分析和挖掘，并详细介绍了在开发过程中的一些理解和体会，以期能对我国从事虚拟现实技术开发和应用的工作者提供一些有用的思路。