In this paper a nonlinear time variant rigid body dynamic model of the suspension system of an horizontal-axis washing machine is derived using Newton-Euler method, programmed for simulation, and assessed experimentally. The model includes the shock absorbers, the non-linear stiffness of the bellows and also the decoupled spinup motor dynamics. The simulation model predicted the transient and steady-state vertical and horizontal amplitudes of the tub within acceptable errors for a prototype suspension system design. The lift-off and the sliding phenomena of the cabinet have been assessed experimentally using four triaxial piezoelectric force transducers. These were found to be in very good agreement with the theoretical predictions. The model and the simulation code are thus validated experimentally for suspension design optimization of horizontal-axis washing machines.

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