Spatial Dynamics of Multibody Tracked Vehicles Part I: Spatial Equations of Motion

Choi, Jin Hwan; Lee, Hyeongcheol; Shabana, Ahmed A.

doi:10.1080/00423119808969365

Cited by 50 publications

(24 citation statements)

References 2 publications

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“…In the connectivity graph, the root body is numbered as 0 while the other bodies are numbered from 1 to consecutively. The body and the joint connecting it to its parent are given the same number [6,7]. Bodies (links) not connected to the ground or to any parent with arc joint are considered floating body (FB) with 6-DOF joint.…”

Section: Kinematic and Dynamic Equations Of Motionmentioning

confidence: 99%

“…The spatial motion of each link will be modeled using full 6 degrees of freedom (DOF). As the number of chain links and the associated DOF increase, the computational effort required to factor the inertia matrix will significantly increase [6,7]. In order to avoid increasing the computational effort, the proposed approach is designed to decouple the chain links equations of motion from the main system equation of motion as will be discussed in the following sections.…”

Section: Introductionmentioning

confidence: 99%

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Chain Drive Simulation Using Spatial Multibody Dynamics

Omar

2014

Advances in Mechanical Engineering

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This paper presents an efficient approach for modeling chain derives using multibody dynamics formulation based on the spatial algebra. The recursive nonlinear dynamic equations of motion are formulated using spatial Cartesian coordinates and joint variables to form an augmented set of differential-algebraic equations. The spatial algebra is used to express the kinematic and dynamic equations leading to consistent and compact set of equations. The connectivity graph is used to derive the system connectivity matrix based on the system topological relations. The connectivity matrix is used to eliminate the Cartesian quantities and to project the forces and inertia into the joint subspace. This approach will result in a minimum set of equation and can avoid iteratively solving the system of differential and algebraic equations to satisfy the constraint equations. In order to accurately capture the full dynamics of the chain links, each link in the chain is modeled as rigid body with full 6 degrees of freedom. To avoid singularities in closed loop configurations, the chain drive is considered a kinematically decoupled subsystem and the interaction between the links and other system components is modeled using force elements. The out-of-plane misalignment between the sprockets can be easily modeled using a compliant force element to model the joints between each two adjacent links. The nonlinear three dimensional contact forces between the chain links and the sprockets are modeled using elastic spring-damper element and accounts for the sliding friction. The proposed approach can be used to model complex drive chain, bicycle chain as well as conveyance systems. Results show that realistic behavior of the chain as well as out-of-plane vibration can be easily captured using the presented approach. The proposed approach for chain drive subsystem could be easily appended to any other multibody simulation system.

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Section: Kinematic and Dynamic Equations Of Motionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Chain Drive Simulation Using Spatial Multibody Dynamics

Omar

2014

Advances in Mechanical Engineering

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“…These linear connectivity conditions allow for the elimination of the dependent variables at a preprocessing stage, thereby significantly reducing the problem dimension and array storage needed. 4 3. Because linear connectivity conditions are used to eliminate the dependent variables at a preprocessing stage, the constraint equations are automatically satisfied at the position, velocity, and acceleration levels.…”

Section: Introductionmentioning

confidence: 99%

“…Therefore, when using the proposed approach to model large scale chain systems, differences in computational efficiency between the augmented formulation and the recursive methods are eliminated, and the CPU times resulting from the use of the two formulations become similar regardless of the complexity of the system. 4. Furthermore, the elimination of the joint constraint equations and the associated dependent variables contribute to the solution of a fundamental singularity problem encountered in the analysis of closed loop chains and mechanisms.…”

Section: Introductionmentioning

confidence: 99%

Ideal Compliant Joints and Integration of Computer Aided Design and Analysis

Hamed¹,

Jayakumar²,

Letherwood³

et al. 2013

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Public reporting burden for the collection of information is estimated to average 1 hour per response, including the time for reviewing instructions, searching existing data sources, gathering and maintaining the data needed, and completing and reviewing the collection of information. Send comments regarding this burden estimate or any other aspect of this collection of information, including suggestions for reducing this burden, to Washington Headquarters Services, Directorate for Information Operations and Reports, 1215 Jefferson Davis Highway, Suite 1204, Arlington VA 22202-4302. Respondents should be aware that notwithstanding any other provision of law, no person shall be subject to a penalty for failing to comply with a collection of information if it does not display a currently valid OMB control number. REPORT DATE NOV 20132. REPORT TYPE Technical Report3 ; #24314 SPONSORING/MONITORING AGENCY NAME(S) AND ADDRESS(ES) U.S. Army TARDEC, 6501 East Eleven Mile Rd, Warren, Mi, 48397-5000 SPONSOR/MONITOR'S ACRONYM(S) TARDEC SPONSOR/MONITOR'S REPORT NUMBER(S) #24314 DISTRIBUTION/AVAILABILITY STATEMENTApproved for public release; distribution unlimited 13. SUPPLEMENTARY NOTES 14. ABSTRACT This paper discusses fundamental issues related to the integration of computer aided design and analysis (I-CAD-A) by introducing a new class of ideal compliant joints that account for the distributed inertia and elasticity. The absolute nodal coordinate formulation (ANCF) degrees of freedom are used in order to capture modes of deformation that cannot be captured using existing formulations. The ideal compliant joints developed can be formulated, for the most part, using linear algebraic equations, allowing for the elimination of the dependent variables at a preprocessing stage, thereby significantly reducing the problem dimension and array storage needed. Furthermore, the constraint equations are automatically satisfied at the position, velocity, and acceleration levels. When using the proposed approach to model large scale chain systems, differences in computational efficiency between the augmented formulation and the recursive methods are eliminated, and the CPU times resulting from the use of the two formulations become similar regardless of the complexity of the system. The elimination of the joint constraint equations and the associated dependent variables also contribute to the solution of a fundamental singularity problem encountered in the analysis of closed loop chains and mechanisms by eliminating the need to repeatedly change the chain or mechanism independent coordinates. It is shown that the concept of the knot multiplicity used in computational geometry methods, such as B-spline and NURBS (Non-Uniform Rational B-Spline), to control the degree of continuity at the breakpoints is not suited for the formulation of many ideal compliant joints. As explained in this paper, this issue is closely related to the inability of B-spline and NURBS to model structural discontinuities. Another contribution of this paper is dem...

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“…Models of chain dynamics is studied in a wide range of mechanical applications like tracked vehicles and drive trains. A dynamic model of an earthmoving tracked vehicle is presented in Choi et al (1998). The spatial model uses a formulation of the track treating each link as kinematically decoupled rigid bodies.…”

mentioning

confidence: 99%

Enhanced chain dynamics in loop-sorting-systems by means of layout optimization and a kinematic model of the polygon action

Sørensen

Hansen

Ebbesen

et al. 2012

Struct Multidisc Optim

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Poor dynamics owing to polygon action is a known concern in mechanical applications of closed articulated chains. In this paper a kinematic model of the polygon action in large chains of loop-sorting-systems is proposed. Through optimization techniques the chain dynamics is improved by minimizing the polygon action using a parametric model of the track layout as design variables. Three formulations of the kinematic polygon action are tested on an average sized planer tracks layout to find a superior model. Verification of the proposed optimization method is performed using a state-of-the-art multi-body simulation model of the chain dynamics.

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Spatial Dynamics of Multibody Tracked Vehicles Part I: Spatial Equations of Motion

Cited by 50 publications

References 2 publications

Chain Drive Simulation Using Spatial Multibody Dynamics

Chain Drive Simulation Using Spatial Multibody Dynamics

Ideal Compliant Joints and Integration of Computer Aided Design and Analysis

Enhanced chain dynamics in loop-sorting-systems by means of layout optimization and a kinematic model of the polygon action

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