Dynamic investigation of a spatial multi-body mechanism considering joint clearance and friction based on coordinate partitioning method

2021 ◽  
pp. 095440622110255
Author(s):  
Gao Hua ◽  
Zhai Jingyu ◽  
Zhang Hao ◽  
Han Qingkai ◽  
Liu Jinguo
Keyword(s):  
Lagrange Equation ◽  
Contact Point ◽  
Stable State ◽  
Constraint Equation ◽  
Friction Model ◽  
Dynamic Equations ◽  
Joint Clearance ◽  
Equivalent Damping ◽  
Equivalent Damping Coefficient ◽  
Coordinate Partitioning

The dynamic response of the model, which is the series connection of a planar four-bar mechanism and a spatial RSSR mechanism, is analyzed considering revolute joint clearance and friction. A non-holonomic constraint equation is proposed to solve the Euler angles. The dynamic equations are established by combining the Lagrange equation with the modified contact model and the LuGre friction model. A dynamic solution program based on the coordinate partitioning method is designed to solve the dynamic equations. The paper verifies the correctness and applicability of the solution program by comparing the numerical calculation results with Adams simulation. Compared with the results of eccentricity, it is found that the maximum penetration is very sensitive to the change of the slider speed rather than the clearance. The equivalent damping coefficient proposed by authors not only represents whether a collision occurs, but reflects the hysteresis caused by damping. The macroscopic manifestation of the up and down oscillation of eccentricity is the swing of the contact point. Besides, the system quickly changes from the collision into the stable state due to considering friction, and the peak value of each collision reduces greatly. Therefore, when the clearance is unavoidable, the clearance joint should be coated with a material with a large friction coefficient and not easy to wear.

Analysis about Isolation Effect for Mega Frame with Rubber Bearing

2014 ◽  
Vol 578-579 ◽  
pp. 1493-1497
Author(s):  
Ya Di Cao ◽  
Xing Guo Wang ◽  
Nan Ge
Keyword(s):  
Dynamic Response ◽  
Seismic Isolation ◽  
Lagrange Equation ◽  
Stiffness Coefficient ◽  
Isolation System ◽  
Equivalent Damping ◽  
Rubber Bearing ◽  
Story Drift ◽  
Calculation Results ◽  
Equivalent Damping Coefficient

According to Lagrange equation in dynamics the motion equation of the mega frame with rubber bearing isolation was established. Its solution was approched with MTALAB language programming. The calculation results show that the seismic isolation system can significantly reduce the seismic dynamic response of inter-story drift. When the first layer support and the second support stiffness coefficient of rubber bearing being 190000 kN/m, and the equivalent damping coefficient being about 20000kN.s/m, the isolation efficiency can reach as high as 50%~88%, which is the best combination.

The Calculation of the Equivalent Linear Damping Coefficient of the Magnetorheological Damper

2013 ◽  
Vol 336-338 ◽  
pp. 475-479 ◽  
Author(s):  
Yao Hui Guo ◽  
En Wei Chen ◽  
Qun Wu ◽  
Yi Min Lu ◽  
Zeng Qiang Xia
Keyword(s):  
Mr Damper ◽  
Magnetorheological Damper ◽  
Damping Coefficient ◽  
Control Voltage ◽  
Characteristic Analysis ◽  
Equivalent Damping ◽  
Equivalent Linear ◽  
Linear Damping ◽  
Damper Control ◽  
Equivalent Damping Coefficient

MR damper (magnetorheological damper) has broad application prospects, and equivalent damping coefficient is very important of its dynamic characteristic analysis. Based on the modified Bouc_Wen model, the performance of MR damper was analyzed and the equivalent linear damping coefficient of MR damper was calculated. Based on simulation date of the modified Bouc_Wen model, the relationships between the equivalent linear damping coefficient of MR damper and the parameters of control voltage and MR dampers movement amplitude were established by the curve fitting regression analysis method. Verification results prove that the equivalent linear damping coefficient model has higher accuracy. For the vibration systems using strongly nonlinear MR damper, new model can effectively improve the efficiency of calculating the vibration analysis and the stability of the system in a certain frequency. At the same time, the model provides a theoretical basis for the application of MR damper control.

Landing efficiency control of a six-degree-of-freedom aircraft model with magnetorheological dampers: Part 1—Modeling

2020 ◽  
pp. 1045389X2094257
Author(s):  
Byung-Hyuk Kang ◽  
Ji-Young Yoon ◽  
Gi-Woo Kim ◽  
Seung-Bok Choi
Keyword(s):  
Lagrange Equation ◽  
Degree Of Freedom ◽  
Magnetorheological Damper ◽  
Dynamic Equations ◽  
Design Parameters ◽  
Coordinate Frame ◽  
Aircraft Model ◽  
Efficiency Control ◽  
Six Degree Of Freedom ◽  
Principal Design

This work presents landing efficiency control of a six-degree-of-freedom aircraft model, which has a controllable landing gear system with magnetorheological damper. Due to lengthy contents, this work is divided into two parts. In Part 1, both the kinematic and dynamic equations of the six-degree-of-freedom aircraft model are derived. After determining the principal design parameters of magnetorheological damper based on commercial Beechcraft Baron B55 (passive oleo-strut type) damper, the kinematic equations are derived using the aircraft body coordinate frame and homogeneous coordinates of the reference frame, while the dynamic equations are derived using Euler–Lagrange equation to represent the heave, roll, and pitch motions of the aircraft model. In Part 2, the landing performance based on landing efficiencies is analyzed through the landing motions using various controllers.

EVALUATIONS OF CLUSTER STRUCTURE AND MAGNETO-RHEOLOGY OF MR SUSPENSIONS

2005 ◽  
Vol 19 (07n09) ◽  
pp. 1437-1442 ◽  
Author(s):  
HIDEYA NISHIYAMA ◽  
KAZUNARI KATAGIRI ◽  
KATSUHISA HAMADA ◽  
KAZUTO KIKUCHI ◽  
KATSUHIKO HATA ◽  
...  
Keyword(s):  
Magnetic Field ◽  
Cluster Formation ◽  
Cluster Structure ◽  
Mr Damper ◽  
Magnetic Flux Density ◽  
Equivalent Damping ◽  
Damping Characteristics ◽  
Mr Fluids ◽  
Equivalent Damping Coefficient ◽  
Particle Shapes

In the present study, we sysnthesize two types of MR fluids with different particle shapes and sizes. The magnetic functions are evaluated circulatingly by the analysis of cluster formation, rheological properties in the applied magnetic field and damping characteristics in the MR damper, comparing with those of commercial MR fluids. Final objective is to provide the fundamental data for the development of newly advanced MR fluids. The main topics consist of geographycal cluster formation depending on particle shapes and sizes, relating to the apparent viscosity and yield stress with magnetic flux density and further equivalent damping coefficient of two newly sysnthesised MR fluids comparing with those of LORD MR fluid.

Fabrication and characterization of highly controllable magnetorheological material in compression mode

2020 ◽  
Vol 31 (14) ◽  
pp. 1641-1661 ◽  
Author(s):  
Amin Fereidooni ◽  
Afonso Martins ◽  
Viresh Wickramasinghe ◽  
Afzal Suleman
Keyword(s):  
Magnetic Fields ◽  
Loss Factor ◽  
Magnetorheological Fluid ◽  
Loading Frequency ◽  
Magnetorheological Elastomer ◽  
Magnetorheological Elastomers ◽  
Equivalent Damping ◽  
Magnetorheological Effect ◽  
Equivalent Damping Coefficient

This article is focused on the development and characterization of highly controllable magnetorheological materials for stiffness and damping control in semi-active control applications. Two types of magnetorheological materials are developed in-house: magnetorheological elastomer with soft base elastomer, and magnetorheological fluid encapsulated in regular elastomer, namely magnetorheological fluid-elastomer. In both cases of magnetorheological elastomers and magnetorheological fluid-elastomers, the samples are evaluated using in-house-developed shear and compression test rigs, which are equipped with electromagnets and Hall effect sensors for measuring the magnetic field. These features provide the capability to precisely control a wide range of magnetic fields during the experiments. In the case of magnetorheological elastomers, the experimental results of the in-house magnetorheological elastomers are compared with commercially available counterparts made of hard base elastomer. It is shown that the controllability of the material, that is, the relative magnetorheological effect, is significantly improved in the case of magnetorheological elastomer with soft base elastomer. In addition to various magnetic fields, the samples are subjected to a range of loading amplitudes and frequencies. A general trend is observed where the frequency and strain amplitude cause an opposite effect on both the shear and compressive moduli: the increase in frequency gives rise to a higher value of modulus whereas the increase in amplitude reduces the modulus. Furthermore, the effect of bonding on the performance of the magnetorheological elastomers in compression mode is evaluated and the results indicate a significant increase in the modulus and decrease in the loss factor. In all the cases, however, the change of loss factor does not exhibit a predictable trend as a function of magnetic fields. In order to investigate a magnetorheological-based solution for controlling the damping of a semi-active system, magnetorheological fluid-elastomer samples are made in-house. These samples are fabricated using three different iron concentrations, and are tested in compression (squeeze) mode. The results of these experiments confirm that the equivalent damping coefficient of the material rises with the increase in magnetic field, and this effect becomes stronger as the iron concentration of magnetorheological fluids increases. It is also demonstrated that the magnetorheological effect is highly dependent on the loading frequency and amplitude, where the equivalent damping coefficient decreases with the increase in loading frequency and amplitude. In all the aforementioned cases, the stiffness of magnetorheological fluid-elastomers exhibits minor changes, which offers the in-house-developed magnetorheological fluid-elastomers as a damping only control option, a development that is different from the magnetorheological fluid-elastomers reported in the literature.

Dynamics analysis of dual-axis positioning mechanism of satellite antenna with joint clearance

2014 ◽  
Vol 10 (1) ◽  
pp. 59-74
Author(s):  
Zheng Feng Bai ◽  
Yang Zhao ◽  
Jun Chen
Keyword(s):  
Dynamic Characteristics ◽  
Dynamic Performance ◽  
Engineering Application ◽  
Friction Model ◽  
Joint Clearance ◽  
Force Model ◽  
Dynamics Analysis ◽  
Satellite Antenna ◽  
Content Type ◽  
Continuous Contact

Purpose – The existence of clearance in joints of positioning mechanism is inevitable and the movements of the real mechanism are deflected from the ideal mechanism due to the clearances. The purpose of this paper is to investigate the effects of clearance on the dynamic characteristics of dual-axis positioning mechanism of a satellite antenna. Design/methodology/approach – The dynamics analysis of dual-axis positioning mechanism with clearance are investigated using a computational approach based on virtual prototyping technology. The contact model in joint clearance is established by using a hybrid nonlinear continuous contact force model and the friction effect is considered by using a modified Coulomb friction model. Then the numerical simulation of dual-axis positioning mechanism with joint clearance is carried out and four case studies are implemented for different clearance sizes. Findings – Clearance leads to degradation of the dynamic performance of the system. The existence of clearance causes impact dynamic loads, and influences the motion accuracy and stability of the dual-axis positioning mechanism. Larger clearance induces higher frequency shakes and larger shake amplitudes, which will deteriorate positioning accuracy. Practical implications – Providing an effective and practical method to analyze dynamic characteristics of dual-axis positioning mechanism of satellite antenna with joint clearance and describing the dynamic characteristics of the dual-axis positioning system more realistically, which improves the engineering application. Originality/value – The paper is the basis of mechanism design, precision analysis and robust control system design of dual-axis positioning mechanism of satellite antenna.

Influence of Dynamic Viscosity on Automatic Dynamic Balance

2010 ◽  
Vol 164 ◽  
pp. 127-132 ◽  
Author(s):  
Marijonas Bogdevicius ◽  
Jolanta Janutėnienė
Keyword(s):  
Numerical Analysis ◽  
Theoretical Approach ◽  
Dynamic Viscosity ◽  
Lagrange Equation ◽  
Dynamic Balance ◽  
Viscosity Coefficient ◽  
Dynamic Equations ◽  
Linear Character ◽  
Optimal Value ◽  
And Behavior

The paper deals with analysis of dynamic stability and behavior of automatic dynamic balance (ADB) by applying theoretical approach. Differential equations of the considered system were established using Lagrange equation. Numerical analysis of the dynamic equations was performed and influence of dynamic viscosity coefficient on self-balancing process was estimated. It is demonstrated that the balancing time decreases in non-linear character. The optimal value of dynamic viscosity for achieving minimal balancing time can be determined for the analyzed system.

scholarly journals Determination of Stability Correction Parameters for Dynamic Equations of Constrained Multibody Systems

2018 ◽  
Vol 2018 ◽  
pp. 1-10 ◽  
Author(s):  
Lyu Guizhi ◽  
Liu Rong
Keyword(s):  
Numerical Simulation ◽  
Constraint Equation ◽  
System Stability ◽  
Dynamic Equations ◽  
Constraint Violation ◽  
Stability Parameters ◽  
Constraint Matrix ◽  
Stability Method ◽  
Parameter Values

When analyzing mechanical systems with numerical simulation by the Udwadia and Kalaba method, numerical integral results of dynamic equations will gradually deviate from requirements of constraint equations and eventually lead to constraint violation. It is a common method to solve the constraint violation by using constraint stability to modify the constraint equation. Selection of stability parameters is critical in the particular form of the corrected equation. In this paper, the method of selecting and determining of stability parameters is given, and these parameters will be used to correct the Udwadia-Kalaba basic equation by the Baumgarte constraint stability method. The selection domain of stability parameters is further reduced in view of the singularity of the constraint matrix during the integration procedure based on the selection domain which is obtained by the system stability analysis method. Errors of velocity violation and position violation are defined in the workspace, so as to determine the parameter values. Finally, the 3-link spatial manipulator is used to verify stability parameters of the proposed method. Numerical simulation results verify the effectiveness of the proposed method.

Shafting Vibration Simulation for Hydro Turbine Generating Sets

2013 ◽  
Vol 444-445 ◽  
pp. 1171-1176
Author(s):  
Yun Zeng ◽  
Li Xiang Zhang ◽  
Jing Qian ◽  
Cheng Li Zhang
Keyword(s):  
Vibration Amplitude ◽  
Angular Speed ◽  
Transient Model ◽  
Integrated Simulation ◽  
Hydro Turbine ◽  
Equivalent Damping ◽  
Generating Sets ◽  
Mass Eccentricity ◽  
Equivalent Damping Coefficient ◽  
Vibration Simulation

Based on the transient model of hydro turbine generating sets (HTGS), the integrated simulation system of HGTS is built to study shafting stability. Given different bearing stiffness, equivalent damping coefficient and mass eccentricity, the change characteristics of shafting vibration at rated angular speed in steady and maximum angular speed in transient are simulated, and which are applied to study inferences shafting parameters and angular speed on shafting vibration. Simulation results show that the relationship between shafting vibration amplitude and angular speed is linear. however, the vibration amplitude increment produced by angular speed error will be amplified while the shafting stiffness is weaker, mass eccentricity of the runner and rotor is larger.

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