A review of bushing modelling approaches for MultiBody simulations

Adduci, Rocco; Vermaut, Martijn; Perrelli, Michele; Cosco, Francesco; Vanpaemel, Simon; Naets, Frank; Mundo, Domenico

doi:10.1016/j.mechmachtheory.2023.105496

Cited by 3 publications

(1 citation statement)

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“…Our approach considers the interaction between the ground and the bristles as a spring-damper system. Specifically, we adopted the linear Kelvin–Voigt contact model [ 18 ], which calculates the normal force proportional to the penetration depth. As shown in Figure 4 a, when the height of the bristle end

becomes lower than the ground height

, resulting in a penetration of

, the normal force N is calculated through the spring-damper system in Figure 4 b.…”

Section: Methodsmentioning

confidence: 99%

Dynamic Analysis of the Locomotion Mechanism in Foxtail Robots: Frictional Anisotropy and Bristle Diversity

Lee,

Jeong,

Kim

et al. 2024

Biomimetics

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This study investigated the locomotion mechanism of foxtail robots, focusing on the frictional anisotropy of tilted bristles under the same friction coefficient and propulsion strategy using bristle diversity. Through dynamic analysis and simulations, we confirmed the frictional anisotropy of tilted bristles and elucidated the role of bristle diversity in generating propulsive force. The interaction between contact nonuniformity and frictional anisotropy was identified as the core principle enabling foxtail locomotion. Simulations of foxtail robots with multiple bristles demonstrated that variations in bristle length, angle, and deformation contribute to propulsive force generation and environmental adaptability. In addition, this study analyzed the influence of major design parameters on frictional anisotropy, highlighting the critical roles of body height, bristle length, stiffness, reference angle, and friction coefficient. The proposed guidelines for designing foxtail robots emphasize securing bristle nonuniformity and inducing contact nonuniformity. The simulation framework presented enables the quantitative prediction and optimization of foxtail robot performance. This research provides valuable insights into foxtail robot locomotion and lays a foundation for the development of efficient and adaptive next-generation robots for diverse environments.

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becomes lower than the ground height

, resulting in a penetration of

, the normal force N is calculated through the spring-damper system in Figure 4 b.…”

Section: Methodsmentioning

confidence: 99%