Locomotive Underactuated Implement Guided via Elastic Elements (L.U.I.G.E.E): A Preliminary Design

2015 ◽  
Author(s):  
Thomas Reilly ◽  
Jerome K. O’Rourke ◽  
Daniel Steudler ◽  
Davide Piovesan ◽  
Roberto Bortoletto
Keyword(s):  
Human Body ◽  
Equilibrium Position ◽  
Simulation Software ◽  
Dynamics Simulation ◽  
Original Position ◽  
Preliminary Design ◽  
Top Down ◽  
Body Dynamics ◽  
Multi Body ◽  
Elastic Elements

This paper presents the simulation and fabrication of a bipedal humanoid system actuated with linear springs to produce a standing equilibrium position. The humanoid system is comprised of two leg assemblies connected by a hip bracket. Eleven pairs of springs were attached to the system in locations designed to simulate the muscles and tendons in a human body. The assembly was modeled in the multi-body dynamics simulation software SimWise 4D. Simulations were performed to determine the springs’ stiffness and natural lengths using a top-down heuristic approach. After a set of springs were found to produce a good simulated stable position, they were cross referenced to standard commercially-available parts. A final simulation was then performed to verify that the real-world spring values produced a stable system. Working in tandem with SimWise 4D, the humanoid assembly was fabricated using PLA plastic via an extrusion-type rapid prototyping machine. From the results of the simulation, the set of working springs were implemented onto the plastic model. After final modifications, the assembly then produced a standing equilibrium position. Finally, the assembly was perturbed in several directions to ensure that after the system experienced a displacement it would then return to its original position.

Research of Amplification Frame Optimization Based on Optistruct

2012 ◽  
Vol 510 ◽  
pp. 541-544
Author(s):  
Bing Zhong
Keyword(s):  
Stress Distribution ◽  
Structural Optimization ◽  
Working Conditions ◽  
Simulation Software ◽  
Dynamics Simulation ◽  
Body Dynamics ◽  
Utilization Ratio ◽  
Simulation Results ◽  
The Cost ◽  
Multi Body

The motion of amplification frame of dumper was simulated by multi-body dynamics simulation software ADAMS, and the danger working conditions of amplification frame were calculated. The stress of amplification frame was simulated and analyzed by Optistruct software. The results show that the stress distribution in amplification frame is not uniform and it is big in the middle and small in the edge zeros. The structure of amplification is optimized according to the simulation results. The utilization ratio of the material increases and the cost of production decreases after structural optimization.

Analytical Evaluation of Adaptive Seat Energy Absorber for Rotorcraft Semi-Active Crash Safety Seat Development

2013 ◽  
Author(s):  
Muthuvel Murugan ◽  
JinHyeong Yoo ◽  
Gregory Hiemenz ◽  
Norman Wereley
Keyword(s):  
Human Body ◽  
Simulation Software ◽  
Dynamics Simulation ◽  
Crash Severity ◽  
Analytical Evaluation ◽  
Severity Level ◽  
Occupant Protection ◽  
Body Regions ◽  
Lumped Parameter ◽  
Multi Body

This research study focuses on the analytical evaluation of magneto-rheological (MR) dampers for enhanced occupant protection during vertical crash landings of a helicopter. The current state-of-the-art helicopter crew seat has passive safety mechanisms that are highly limited in their capability to optimally adapt to each type of crash scenario due to variations in both occupant weight and crash severity level. While passive crash energy absorbers work well for a single design condition (50th percentile male occupant and fixed crash severity level), they do not offer adequate protection across a broad spectrum of crash conditions by minimizing the load transmitted to the occupant. This study reports the development of a lumped-parameter human body model including lower leg in a seated posture for rotorcraft crash injury simulation. A physical model of lumped-parameter human body restrained on a crew seat was implemented in multi-body dynamics simulation software. For implementing control, a control algorithm was made to work with the multi-body dynamic model by running co-simulation. The injury criteria and tolerance levels for the biomechanical effects are discussed for each of the identified vulnerable body regions, such as the thoracic lumbar loads for different sized adults. The desired objective of this analytical model development is to develop a tool to study the performance of adaptive semi-active magnetorheological seat suspensions for rotorcraft occupant protection.

Obstacle Performance of Track Robot with Passive Rocker Based on Recurdyn

2013 ◽  
Vol 397-400 ◽  
pp. 1580-1588
Author(s):  
Man Lu Liu ◽  
Jing Zhang ◽  
Kuan Li
Keyword(s):  
Three Dimensional ◽  
Simulation Software ◽  
Dynamics Simulation ◽  
Prototype Model ◽  
Dimensional Model ◽  
Three Dimensional Model ◽  
Kinematics Simulation ◽  
Body Dynamics ◽  
Set Up ◽  
Multi Body

To solve the instability of track robot in the process of climbing obstacles, a track robot with passive rocker was designed and a three-dimensional model of track robot was developed by Unigraphics NX in this paper. Furthermore, the kinematic analysis was made for obstacle performance of the track robot. The virtual prototype model of the track robot with passive rocker was set up by using the tracked vehicle subsystem of multi-body dynamics simulation software RecurDyn and kinematics simulation for this robot was made. The simulation results verify the feasibility of the machine and provide some theoretical guidance for developing the obstacle performance of track robot.

Fast VR Application Development Based on Versatile Rigid Multi-Body Dynamics Simulation

2011 ◽  
Author(s):  
Thomas Josef Jung ◽  
Malte Rast ◽  
Eric Guiffo Kaigom ◽  
Juergen Rossmann
Keyword(s):  
Mobile Robotics ◽  
Simulation Models ◽  
Rigid Bodies ◽  
Simulation Software ◽  
Dynamics Simulation ◽  
Application Development ◽  
Body Dynamics ◽  
Virtual Testbed ◽  
Physics Based Simulation ◽  
Multi Body

More and more areas in research and development use Virtual Reality technologies. To quickly realize new applications at low costs, the reuse of existing functionality is of high importance. In the area of mobile robotics, physics based simulation components promise optimal reusability: The physical laws always stay the same and do not depend on the application. Hence, as long as the applications try to emulate reality, physics based simulation software will be reusable. Unfortunately, depending on the kind of application, different simulation models for different physical domains are needed: Particle models for fluids and soil, finite-elements for non-rigid bodies, multi-body systems and so on. However, for those applications developed at Institute for Man-Machine Interaction at the RWTH Aachen University, a multi-body dynamics component has taken a central role in the process of application development. It is fully integrated within a modern 3D-simulation and visualization tool. It is enhanced by generalized tools of contact graph analysis, which support the fast development of robust applications suitable for daily use. The paper discusses the benefit of this multi-body system as a platform for versatile application development, taking the following three applications as examples: The first example is the development of forest machine simulators for usage in education and training of machine operators. The existence of a purely kinematically realized, phenomenological implementation with widely equivalent range of functions allows a direct comparison of the programming efforts. The second example is the development of algorithms for space robot motion planning. The example demonstrates, how easy and effective innovative robotic simulation applications can be realized using a common, dynamics based simulation framework. The third example finally describes the development of a Virtual Testbed for legged lunar exploration robots. The Virtual Testbed example handles in detail the concept of “top-down-development” of simulation models. The refinement of the simulation of foot-soil-contact situations using a force exchange interface and the refinement of the actuator dynamics simulation using an energy exchange interface serve as examples.

Analysis of the Deterioration of Harmonic Local Irregularity on Locomotive Wheel-Rail Vertical Force

2014 ◽  
Vol 684 ◽  
pp. 137-144 ◽  
Author(s):  
Di Lai Chen ◽  
Jian Xin Liu ◽  
Kai Jun Du ◽  
Yan Wang
Keyword(s):  
Vehicle Dynamics ◽  
Strong Shock ◽  
Harmonic Excitation ◽  
Simulation Software ◽  
Dynamics Simulation ◽  
Vertical Force ◽  
External Excitation ◽  
Body Dynamics ◽  
Multi Body ◽  
Local Irregularity

By the MATLAB software the article simulated the local irregularity, the new harmonic excitation superimposed on the initial harmonic to simulate track settlement deterioration, the new uplift excitation superimposed on the initial harmonic to simulate track raised deterioration, as the locomotive model external excitation, using the SIMPACK multi-body dynamics simulation software to analyze the influences of the deterioration of harmonic local irregularity on locomotive wheel-rail vertical force, on the basis of the locomotive wheel-rail interaction dynamics index by the locomotive vehicle dynamics theory. The simulation results show that when the deterioration of harmonic local irregularity occurs, even if the amplitude of deterioration is small, which will cause serious deterioration of wheel-rail dynamic response and strong shock and vibration of wheel-rail .The larger amplitude of harmonic local irregularity, the greater of the maximum wheel-rail vertical force. When deterioration of the amplitude exceeds a certain value, the maximum of the wheel-rail vertical force exceedes the limit, which will cause derailment. The wheel-rail dynamic interaction increases with the speed increasing. At the same speed (such as 120km/h), harmonic local irregularity settlement deterioration compareing to harmonic local irregularity raised deterioration, the maximum of the wheel-rail vertical force increases 14.4%. Therefore, local irregularity deterioration or the speed of the locomotive should be strictly controlled.

The Dynamics Simulation of Tracked Vehicles on the Hard and Soft Ground Based on the RecurDyn

2013 ◽  
Vol 842 ◽  
pp. 351-354 ◽  
Author(s):  
Chong Kai Zhou ◽  
Ya Yu Huang ◽  
Li Ni
Keyword(s):  
Three Dimensional ◽  
Simulation Software ◽  
Dynamics Simulation ◽  
Dynamics Model ◽  
Tracked Vehicle ◽  
Tracked Vehicles ◽  
Process Dynamics ◽  
Body Dynamics ◽  
Multi Body ◽  
Vehicle Movement

In order to accurately study a tracked vehicle movement on the ground in hard and soft features, this paper uses multi-body dynamics simulation software RecurDyn tracked vehicle subsystems Track (LM), establishing a three-dimensional multi-body vehicle dynamics model. For tracked vehicles at an inclination of 10 degrees slope, through the soft and hard ground steering process dynamics simulation and comparative analysis. This paper provides an accurate basis for the future in-depth research on Tracked vehicle.

Lightweight Design for a New Tracked Triangular Wheel Structure

2013 ◽  
Vol 744 ◽  
pp. 78-82
Author(s):  
Jun Wen Xing ◽  
Hong Wu Pu ◽  
Xiang Zheng Meng ◽  
Li Qun Bao
Keyword(s):  
Finite Element ◽  
Lightweight Design ◽  
Element Model ◽  
Simulation Software ◽  
Dynamics Simulation ◽  
Wheeled Vehicle ◽  
Body Dynamics ◽  
Dry Soil ◽  
Multi Body ◽  
Structure Properties

A new tracked triangular wheel structure was introduced. A whole tracked triangular wheeled vehicle model was built in multi-body dynamics simulation software RecurDyn, and its climbing obstacle performance on the dry soil road was simulated. The author put the simulation results as loading conditions of finite element model. Finite element calculation and lightweight design for tracked triangular wheel base frame were completed. The results showed that the weight of the base frame reduced by 69.8%, the structure properties of the base frame improved, and the lightweight design goal was achieved.

The Machine Design and Parameter Analysis of the Bar Bending which Based on the ADAMS

2015 ◽  
Vol 779 ◽  
pp. 84-87
Author(s):  
Xiao Qian Xia ◽  
Wei Min Dong ◽  
Jin Song Luo
Keyword(s):  
Damping Ratio ◽  
Three Dimensional ◽  
Simulation Software ◽  
Parameter Analysis ◽  
Dynamics Simulation ◽  
Three Dimensional Model ◽  
Optimization Analysis ◽  
Body Dynamics ◽  
Bending Mechanism ◽  
Multi Body

The three dimensional model of the bar bending mechanism was carried out by using the software Solidegde in this article,and then,import it into the multi-body dynamics simulation software Adams for the dynamic simulation and parameter optimization. Analysis results show that: The non-uniform stress phenomenon on the institutions must be effectively reduce under a appropriate damping ratio coefficient .

The torsional vibration simulation of the diesel engine crankshaft system based on multi-body dynamic model

2021 ◽  
pp. 146441932110202
Author(s):  
Mengsheng Wang ◽  
Nengqi Xiao ◽  
Minghui Fan
Keyword(s):  
Diesel Engine ◽  
Torsional Vibration ◽  
Silicone Oil ◽  
Engineering Application ◽  
Simulation Software ◽  
Dynamics Simulation ◽  
Three Dimensional Model ◽  
Body Dynamics ◽  
Multi Body ◽  
Engine Crankshaft

In order to analyze the torsional vibration of the crankshaft system, a three-dimensional model of the crankshaft system is established, consisted of the piston, connected rod, crank shaft, flywheel and silicone oil damper. Use by multi-body dynamics simulation software ADAMS, created the multi-body dynamics model of the multiple degrees of freedom consisting of rigid hybrid engine system, to do the torsional vibration response simulation, analysis of the torsional vibration on the crankshaft. Through the torsional vibration test of the diesel engine crankshaft system, the accuracy of the simulation calculation results have been verified. This simulation result has higher accuracy, and this calculation method has certain engineering application value.

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