DYNAMIC SIMULATION OF A VEHICLE WITH SEMI-TRAILING A-ARM SUSPENSIONS

1996 ◽  
Vol 20 (2) ◽  
pp. 175-186
Author(s):  
Hazem Ali Attia
Keyword(s):  
Dynamic Analysis ◽  
Dynamic Simulation ◽  
Efficient Solution ◽  
Equations Of Motion ◽  
Equivalent System ◽  
Constraint Forces ◽  
Transient Dynamic Analysis ◽  
Transient Dynamic ◽  
Dynamic Formulation ◽  
System Of Particles

In this paper the transient dynamic analysis of a vehicle with semi-trailing A-arm suspensions is presented. The equations of motion are formulated using a two step transformation. Initially, the formulation is written in terms of a dynamically equivalent system of particles. The equations of motion are then transformed to the relative joint variables. For open chains, this process automatically eliminates all of the non-working constraint forces and leads to an efficient solution and integration of the equations of motion. The results of the simulation indicate the simplicity and generality of the dynamic formulation.

Formulation of the Equations of Motion of RRPR Robot Manipulator

2000 ◽  
Author(s):  
Hazem Ali Attia ◽  
Tarek M. A. El-Mistikawy ◽  
Adel A. Megahed
Keyword(s):  
Dynamic Analysis ◽  
Efficient Solution ◽  
Robot Manipulator ◽  
Equations Of Motion ◽  
Rigid Bodies ◽  
Second Law ◽  
Equivalent System ◽  
Constraint Forces ◽  
Dynamic Formulation ◽  
System Of Particles

Abstract In this paper the dynamic analysis of RRPR robot manipulator is presented. The equations of motion are formulated using a two-step transformation. Initially, a dynamically equivalent system of particles that replaces the rigid bodies is constructed and then Newton’s second law is applied to derive their equations of motion. The equations of motion are then transformed to the relative joint variables. Use of both Cartesian and joint variables produces an efficient set of equations without loss of generality. For open chains, this process automatically eliminates all of the non-working constraint forces and leads to an efficient solution and integration of the equations of motion. The results of the simulation indicate the simplicity and generality of the dynamic formulation.

Dynamic Modelling of a Three Degree-of-Freedom Planar Platform-Type Manipulator

1997 ◽  
Author(s):  
Hazem A. Attia ◽  
Maher G. Mohamed
Keyword(s):  
Differential Equations ◽  
Efficient Solution ◽  
Equations Of Motion ◽  
Translational Motion ◽  
Dynamic Modelling ◽  
Degree Of Freedom ◽  
Constraint Forces ◽  
Dynamic Formulation ◽  
System Of Particles ◽  
Three Degree Of Freedom

Abstract In this paper, the dynamic modelling of a planar three degree-of-freedom platform-type manipulator is presented. A kinematic analysis is carried out initially to evaluate the initial coordinates and velocities. The dynamic model of the manipulator is formulated using a two-step transformation. Initially, the dynamic formulation is written in terms of the Cartesian coordinates of a dynamically equivalent system of particles. Since there is no rotational motion associated with a particle, then the differential equations of motion are derived by applying Newton’s second law to study the translational motion of the particles. The constraint forces between the particles are expressed in terms of Lagrange multipliers. Then, the differential equations of motion are written in terms of the relative joint variables. This leads to an efficient solution and integration of the equations of motion. A numerical example is presented and a computer program is developed.

Automated Vehicle Dynamic Analysis With Flexible Components

1984 ◽  
Vol 106 (1) ◽  
pp. 126-132 ◽  
Author(s):  
S. S. Kim ◽  
A. A. Shabana ◽  
E. J. Haug
Keyword(s):  
Dynamic Analysis ◽  
Equations Of Motion ◽  
Coupled System ◽  
Ride Quality ◽  
Vertical Acceleration ◽  
Transient Dynamic Analysis ◽  
Transient Dynamic ◽  
Generalized Coordinates ◽  
Rigid Body Model ◽  
Nonlinear Transient

A method is presented for nonlinear, transient dynamic analysis of vehicle systems that are composed of interconnected rigid and flexible bodies. The finite element method is used to characterize deformation of each elastic body and a component mode technique is employed to reduce the number of elastic generalized coordinates. Equations of motion and constraints of the coupled system are formulated in terms of a minimal set of modal and reference generalized coordinates. A Lagrange multiplier technique is used to account for kinematic constraints between bodies and a generalized coordinate partitioning technique is employed to eliminate dependent coordinates. The method is applied to a planar truck model with a flexible chassis and nonlinear suspension components. Simulation results for transient dynamic response as the vehicle traverses a bump, including the effect of bump-stops, and random terrain show that flexibility of the chassis can be routinely accounted for and predicts significant effects on vibratory motion of the vehicle. Compared with a rigid body model, flexibility of the chassis increases peak acceleration of the chassis and induces high-frequency vertical acceleration in the range of human resonance, measured in this paper as driver absorbed power, which deteriorates ride quality of off-road vehicles.

Transient Dynamic Analysis of Rotors Using SMAC Techniques: Part 1, Formulation

1992 ◽  
Vol 114 (4) ◽  
pp. 477-481 ◽  
Author(s):  
S. Ratan ◽  
J. Rodriguez
Keyword(s):  
Dynamic Analysis ◽  
Equations Of Motion ◽  
The Finite Element Method ◽  
Time Step ◽  
Transient Dynamic Analysis ◽  
Transient Dynamic ◽  
Rotor Systems ◽  
Efficient Scheme ◽  
Time Marching ◽  
Equations Of Motions

A new method is introduced for performing transient dynamic analysis of rotor systems using a Successive Merging and Condensation (SMAC) technique. This approach can be applied to rotor analysis problems formulated with the finite element method. Condensation is done on the partitioned equations of motions for an element, and the result is merged into the next element’s equations of motion. Such manipulations result in a reduced size for the system’s matrices, producing a computationally more efficient scheme. After the boundary conditions are applied, a time-marching scheme provides the transient solution at each time step.

scholarly journals Novel analysis methods of dynamic properties for vehicle pantographs

2018 ◽  
Vol 180 ◽  
pp. 01005 ◽  
Author(s):  
Andrzej Wilk
Keyword(s):  
Dynamic Analysis ◽  
Dynamic Simulation ◽  
High Speed ◽  
Dynamic Properties ◽  
Equations Of Motion ◽  
Computer Software ◽  
Fem Analysis ◽  
Electrical Energy ◽  
Modern Approach ◽  
Static And Dynamic Analysis

Transmission of electrical energy from a catenary system to traction units must be safe and reliable especially for high speed trains. Modern pantographs have to meet these requirements. Pantographs are subjected to several forces acting on their structural elements. These forces come from pantograph drive, inertia forces, aerodynamic effects, vibration of traction units etc. Modern approach to static and dynamic analysis should take into account: mass distribution of particular parts, physical properties of used materials, kinematic joints character at mechanical nodes, nonlinear parameters of kinematic joints, defining different parametric waveforms of forces and torques, and numerical dynamic simulation coupled with FEM calculations. In this work methods for the formulation of the governing equations of motion are presented. Some of these methods are more suitable for automated computer implementation. The novel computer methods recommended for static and dynamic analysis of pantographs are presented. Possibilities of dynamic analysis using CAD and CAE computer software are described. Original results are also presented. Conclusions related to dynamic properties of pantographs are included. Chapter 2 presents the methods used for formulation of the equation of pantograph motion. Chapter 3 is devoted to modelling of forces in multibody systems. In chapter 4 the selected computer tools for dynamic analysis are described. Chapter 5 shows the possibility of FEM analysis coupled with dynamic simulation. In chapter 6 the summary of this work is presented.

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