Multibody Dynamics — Modeling and Analysis Methods

Huston, Ronald L.

doi:10.1115/1.3119496

Cited by 60 publications

(14 citation statements)

References 19 publications

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“…Multi-body dynamics (MBD) is a subject that studies the motion rules of multi-body systems; it can be used to establish models to analyse the force and motion rules for complex multi-body systems [26] and [27]. In the related studies on scraper conveyors, MBD is mostly used to study the motion and force characteristics of the chain drive system [11] and [28].…”

Section: Introductionmentioning

confidence: 99%

The Loading Characteristics of Bulk Coal in the Middle Trough and Its Influence on Rigid Body Parts

Zhang¹,

Li²,

Wang³

et al. 2020

SV-JME

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The working reliability of a scraper conveyor is related to the bulk coal load characteristics and the interaction between rigid body parts and bulk coal. In the existing relevant research, a load of coal on rigid body parts is equivalent to constant central acting on some points, ignoring time-varying and uneven distribution of the load and new load generated by the interaction, which results in some load characteristics and related faults being obscured. In this paper, the rigid-discrete coupling simulation model of scraper conveyor is established based on the discrete element method and the multi-body dynamic method, and the overall compressive force gradient distribution of bulk coal in the middle trough, the violent interaction between bulk coal and rigid body parts, and the clamping stagnation of scrapers are studied. The results show that the bulk coal compressive force has an obvious distribution gradient in the chute, and in the chute between two scrapers, the bulk compressive force in the first half is about 19 % of that in the second half in the y-direction. The coal particles stuck between the scrapers, the vertical chainrings, and the middle plates violently interact with the rigid body parts, and the coal particles average compressive force is 59 times that of other coal particles. The scraper influenced by bulk coal is easily stuck at the connection of two chutes, and the tension of the chain before the scraper increases sharply, and the maximum tension of the chainrings is about three times that of the maximum contact force between the scraper and the chute.

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Section: Introductionmentioning

confidence: 99%

The Loading Characteristics of Bulk Coal in the Middle Trough and Its Influence on Rigid Body Parts

Zhang¹,

Li²,

Wang³

et al. 2020

SV-JME

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“…The various formulations of dynamics of constrained multibody systems differ in the principle considered, type of coordinates adopted and the method selected for handling constraints in systems characterized by open and closed-loop topologies [15][16][17][18][19][20][21][22]. The solution of dynamic equations of motion for constrained multibody systems is often performed by using Lagrange multipliers technique, which leads to a set of differential and algebraic equations.…”

Section: Introductionmentioning

confidence: 99%

On the constraints violation in forward dynamics of multibody systems

2016

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It is known that the dynamic equations of motion for constrained mechanical multibody systems are frequently formulated using the Newton-Euler's approach, which is augmented with the acceleration constraint equations. This formulation results in the establishment of a mixed set of partial differential and algebraic equations, which are solved in order to predict the dynamic behavior of general multibody systems. The classical resolution of the equations of motion is highly prone to constraints violation because the position and velocity constraint equations are not fulfilled. In this work, a general and comprehensive methodology to eliminate the constraints violation at the position and velocity levels is offered. The basic idea of the described approach is to add corrective terms to the position and velocity vectors with the intent to satisfy the corresponding kinematic constraint equations. These corrective terms are evaluated as function of the Moore-Penrose generalized inverse of the Jacobian matrix and of the kinematic constraint equations. The described methodology is embedded in the standard method to solve the equations of motion based on the technique of Lagrange multipliers. Finally, the effectiveness of the described methodology is demonstrated through the dynamic modeling and simulation of different planar and spatial multibody systems. The outcomes in terms of constraints violation at the position and velocity levels, conservation of the total energy and computational efficiency are analyzed and compared with those obtained with the standard Lagrange multipliers method, the Baumgarte stabilization method, the augmented Lagrangian formulation, the index-1 augmented Lagrangian and the coordinate partitioning method.

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“…The method to establish the dynamic model for the traditional mechanism has developed considerably, 1 but for some new structures, the dynamics still need to be studied. Xu et al 2 developed a dynamic model for a flexible-base space robot, and established a closed-loop simulation system based on the dynamic model.…”

Section: Introductionmentioning

confidence: 99%

Dynamic modeling and analysis of the instrument arm based on the physical properties of soft tissues

Yang

Wang

et al. 2017

Proceedings of the Institution of Mechanical Engineers, Part C:

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Surgical robot is a hotspot problem of the current research. This paper presents the dynamical analysis of an instrument arm for minimally invasive surgical robot. Firstly, the study presents a general dynamics modeling method, by which a dynamical model of the instrument arm is established and verified by simulation, then a general force of the trocar point is considered and related analysis is performed. Considering the diversity of the reaction force, one-dimensional force is added separately at the operating point and some simulations are performed based on the dynamic model. Secondly, mechanical characterization of soft tissues is researched based on the indentation experiments, where the constitutive models for compression and relaxation are derived and added to the dynamical model to establish a complete dynamic model with the property of soft tissues. Lastly, the trocar force is analyzed in detail where the instrument arm is found to be sensitive to the tiny force based on the simulation results, and then a force sensing strategy of contact force on soft tissues is presented. Comprehensively, dynamical analysis for the instrument arm will provide an important basis for its control.

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Multibody Dynamics — Modeling and Analysis Methods

Cited by 60 publications

References 19 publications

The Loading Characteristics of Bulk Coal in the Middle Trough and Its Influence on Rigid Body Parts

The Loading Characteristics of Bulk Coal in the Middle Trough and Its Influence on Rigid Body Parts

On the constraints violation in forward dynamics of multibody systems

Dynamic modeling and analysis of the instrument arm based on the physical properties of soft tissues

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