Multibody Models and Simulations to Assess the Stability of Counterbalance Forklift Trucks

Gardella, Michele; Martini, Alberto

doi:10.1007/978-3-030-23132-3_63

Cited by 3 publications

(3 citation statements)

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“…In [12], the dynamic stability of a forklift performing a breaking maneuver when descending a longitudinal slope was investigated through a simplified analytical model and experimental tests. Stability tests on tilting platform, carried out according to [13], were simulated through rigid multibody models in [14,15]. Indeed, the ISO Standard is mostly adopted in industry to verify the safety requirements, although it can be observed that the actual safety margins may be significantly reduced by the dynamic loads potentially experienced in emergency situations or other possible maneuvers not accounted for in the reference tests [16].…”

Section: Of 16mentioning

confidence: 99%

Virtual Testing of Counterbalance Forklift Trucks: Implementation and Experimental Validation of a Numerical Multibody Model

Martini

Bonelli²,

Rivola

2020

Machines

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This study investigates the dynamic behavior of a recently developed counterbalance forklift truck. The final objective is creating virtual testing tools based on numerical multibody models to evaluate the dynamic stresses experienced by the forklift family of interest during a reference operating cycle, defined by the manufacturer’s testing protocols. This work aims at defining sufficiently accurate and easy-to-implement modelling approaches and validation procedures. It focuses on a specific test, namely the passage of a speed-bump-like obstacle at high velocity, which represents one of the most severe conditions within the reference cycle. Indeed, unlike most of the other wheeled vehicles, forklifts typically do not have advanced suspension systems and their dynamic response is significantly affected by ground irregularities. To this end, a preliminary model of the complete forklift, featuring rigid bodies and a simplified tire–ground contact model, is implemented with a commercial software. Experimental tests are conducted on the forklift to measure the vehicle vibrations when running on the obstacle, for model validation purposes. After model updating, the results provided by the numerical simulations match the experimental data satisfactorily. Hence, the modelling and validation strategies are proven viable and effective.

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Section: Of 16mentioning

confidence: 99%

Virtual Testing of Counterbalance Forklift Trucks: Implementation and Experimental Validation of a Numerical Multibody Model

Martini

Bonelli²,

Rivola

2020

Machines

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“…This system calculates the 2D marker positions in image coordinates with high precision. In an optoelectronic system, a minimum of three markers are basically required to measure a rigid body [22], but for the system employed in this study, multiple markers were randomly placed onto the object in order to create the 3D space of the object. Figure 13a shows the markers placed on the suspension module and jigs for the 3D space creation.…”

Section: I) 3d Space Creationmentioning

confidence: 99%

Wheel Alignment of a Suspension Module Unit Using a Laser Module

Kim

Lee

2020

Sensors

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Vehicle wheel alignment inspection is generally carried out using a computer vision-based system. Due to its inspection mechanism using four wheel centers, the computer vision-based system cannot be applied to the wheel alignment inspection of suspension module units. However, when a vehicle suspension module is being developed, there is no complete car ready for wheel alignment inspection even though it is a very important procedure for suspension property tests. This study proposes a novel and efficient way to inspect vehicle wheel alignment for suspension modules. Two laser modules and several mechanical jigs were employed for wheel alignment inspection, allowing the toe and camber angles of the suspension module to be measured. For accurate wheel alignment results, calibration of the laser modules was performed prior to the inspection. This calibration procedure adjusts the yaw and pitch angles of the laser module so that they can be orthogonal to the mounting jig. For the calibration, a novel method of using laser straightness was adopted and, consequently, 0.02 degrees of orthogonality was achieved. The wheel alignment inspection results were determined then verified using a vision system with two cameras. In order to use this vision system, two cameras were used and a new method of modifying the measurement mechanism was developed. According to the verification results, the proposed wheel alignment inspection provided very high measurement accuracy. The wheel alignment inspection mechanism proposed in this study can not only give very reliable results but also provide a cost-efficient method of inspecting the wheel alignment of suspension modules to automakers.

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“…In particular, the final objective is implementing reliable numerical tools to achieve an accurate estimate of the dynamic stresses acting on the FLT main components (in particular, the chassis), hence possibly reducing the need for experimental tests. To the Authors' best knowledge, most of the studies on FLT dynamics available in the literature dealt with the topic of vehicle stability [2,[6][7][8][9][10][11] or operator's safety [12][13][14][15], whereas only few works aimed at developing predictive models to help the structural and durability design of FLT components [16,17].…”

Section: Introductionmentioning

confidence: 99%

Analysis of the Dynamic Behavior of a Counterbalance Forklift Truck through Multibody Modelling and Simulation

Pinelli¹,

Giovannucci²,

Martini³

2021

Proceedings of the 10th ECCOMAS Thematic Conference on MULTIBODY DYNAMICS

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This work deals with the analysis of the dynamic response of a counterbalance forklift truck prototype when performing standard verification maneuvers, defined by the manufacturer's testing protocols. The research aims at developing numerical tools based on multibody models to predict accurately the dynamic loads acting on the forklift in the conditions of interest. In particular, this study focuses on a specific test condition, namely the passage on a steel plate obstacle at constant speed, which is one of the most severe maneuvers of the reference cycle in terms of dynamic loads. A model of the complete forklift is developed inside a commercial multibody environment. It takes into account the ground/tire interactions, by means of a simplified nonlinear contanct model, and the load handling assembly dynamics. An experimental campaign is designed and conducted to asses the vehicle behavior when running on the obstacle, by measuring the vibrations of the chassis and of the mast, as well as the forces generated by the mast tilting actuators. The measured data are exploited for model update and validation. The numerical results provided by the updated model show a satisfactory accuracy.

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Multibody Models and Simulations to Assess the Stability of Counterbalance Forklift Trucks

Cited by 3 publications

References 1 publication

Virtual Testing of Counterbalance Forklift Trucks: Implementation and Experimental Validation of a Numerical Multibody Model

Virtual Testing of Counterbalance Forklift Trucks: Implementation and Experimental Validation of a Numerical Multibody Model

Wheel Alignment of a Suspension Module Unit Using a Laser Module

Analysis of the Dynamic Behavior of a Counterbalance Forklift Truck through Multibody Modelling and Simulation

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