A data-driven normal contact force model based on artificial neural network for complex contacting surfaces

2021 ◽  
Vol 156 ◽  
pp. 107612 ◽  
Author(s):  
Jia Ma ◽  
Shuai Dong ◽  
Guangsong Chen ◽  
Peng Peng ◽  
Linfang Qian
Author(s):  
Willem Petersen ◽  
John McPhee

For the multibody simulation of planetary rover operations, a wheel-soil contact model is necessary to represent the forces and moments between the tire and the soft soil. A novel nonlinear contact modelling approach based on the properties of the hypervolume of interpenetration is validated in this paper. This normal contact force model is based on the Winkler foundation model with nonlinear spring properties. To fully define the proposed normal contact force model for this application, seven parameters are required. Besides the geometry parameters that can be easily measured, three soil parameters representing the hyperelastic and plastic properties of the soil have to be identified. Since it is very difficult to directly measure the latter set of soil parameters, they are identified by comparing computer simulations with experimental results of drawbar pull tests performed under different slip conditions on the Juno rover of the Canadian Space Agency (CSA). A multibody dynamics model of the Juno rover including the new wheel/soil interaction model was developed and simulated in MapleSim. To identify the wheel/soil contact model parameters, the cost function of the model residuals of the kinematic data is minimized. The volumetric contact model is then tested by using the identified contact model parameters in a forward dynamics simulation of the rover on an irregular 3-dimensional terrain and compared against experiments.


2015 ◽  
Vol 10 (5) ◽  
Author(s):  
Willem Petersen ◽  
John McPhee

For the multibody simulation of planetary rover operations, a wheel–soil contact model is necessary to represent the forces and moments between the tire and the soft soil. A novel nonlinear contact modeling approach based on the properties of the hypervolume of interpenetration is validated in this paper. This normal contact force model is based on the Winkler foundation model with nonlinear spring properties. To fully define the proposed normal contact force model for this application, seven parameters are required. Besides the geometry parameters that can be easily measured, three soil parameters representing the hyperelastic and plastic properties of the soil have to be identified. Since it is very difficult to directly measure the latter set of soil parameters, they are identified by comparing computer simulations with experimental results of drawbar pull tests performed under different slip conditions on the Juno rover of the Canadian Space Agency (CSA). A multibody dynamics model of the Juno rover including the new wheel/soil interaction model was developed and simulated in maplesim. To identify the wheel/soil contact model parameters, the cost function of the model residuals of the kinematic data is minimized. The volumetric contact model is then tested by using the identified contact model parameters in a forward dynamics simulation of the rover on an irregular three-dimensional terrain and compared against experiments.


AIChE Journal ◽  
2018 ◽  
Vol 64 (6) ◽  
pp. 1986-2001 ◽  
Author(s):  
Rohit Kumar ◽  
Avik Sarkar ◽  
William Ketterhagen ◽  
Bruno Hancock ◽  
Jennifer Curtis ◽  
...  

2021 ◽  
Vol 11 (14) ◽  
pp. 6278
Author(s):  
Mengmeng Wu ◽  
Jianfeng Wang

The inhomogeneous distribution of contact force chains (CFC) in quasi-statically sheared granular materials dominates their bulk mechanical properties. Although previous micromechanical investigations have gained significant insights into the statistical and spatial distribution of CFC, they still lack the capacity to quantitatively estimate CFC evolution in a sheared granular system. In this paper, an artificial neural network (ANN) based on discrete element method (DEM) simulation data is developed and applied to predict the anisotropy of CFC in an assembly of spherical grains undergoing a biaxial test. Five particle-scale features including particle size, coordination number, x- and y-velocity (i.e., x and y-components of the particle velocity), and spin, which all contain predictive information about the CFC, are used to establish the ANN. The results of the model prediction show that the combined features of particle size and coordination number have a dominating influence on the CFC’s estimation. An excellent model performance manifested in a close match between the rose diagrams of the CFC from the ANN predictions and DEM simulations is obtained with a mean accuracy of about 0.85. This study has shown that machine learning is a promising tool for studying the complex mechanical behaviors of granular materials.


2019 ◽  
Vol 29 (9) ◽  
pp. 091101 ◽  
Author(s):  
Nikita Frolov ◽  
Vladimir Maksimenko ◽  
Annika Lüttjohann ◽  
Alexey Koronovskii ◽  
Alexander Hramov

2021 ◽  
Vol 163 ◽  
pp. 113782
Author(s):  
Eduardo Ramos-Pérez ◽  
Pablo J. Alonso-González ◽  
José Javier Núñez-Velázquez

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