scholarly journals A Multibody System Approach for the Systematic Development of a Closed-Chain Kinematic Model for Two-Wheeled Vehicles

Machines ◽  
2021 ◽  
Vol 9 (11) ◽  
pp. 245
Author(s):  
Camilo Andres Manrique-Escobar ◽  
Carmine Maria Pappalardo ◽  
Domenico Guida
Keyword(s):  
System Approach ◽  
Multibody System ◽  
Complex Geometry ◽  
Fundamental Problem ◽  
Kinematic Model ◽  
Cross Product ◽  
Front Wheel ◽  
Alternative Methods ◽  
Closed Chain ◽  
Wheeled Vehicles

In this investigation, a closed-chain kinematic model for two-wheeled vehicles is devised. The kinematic model developed in this work is general and, therefore, it is suitable for describing the complex geometry of the motion of both bicycles and motorcycles. Since the proposed kinematic model is systematically developed in the paper by employing a sound multibody system approach, which is grounded on the use of a straightforward closed-chain kinematic description, it allows for readily evaluating the effectiveness of two alternative methods to formulate the wheel-road contact constraints. The methods employed for this purpose are a technique based on the geometry of the vector cross-product and a strategy based on a simple surface parameterization of the front wheel. To this end, considering a kinematically driven vehicle system, a comparative analysis is performed to analyze the geometry of the contact between the front wheel of the vehicle and the ground, which represents a fundamental problem in the study of the motion of two-wheeled vehicles in general. Subsequently, an exhaustive and extensive numerical analysis, based on the systematic multibody approach mentioned before, is carried out in this work to study the system kinematics in detail. Furthermore, the orientation of the front assembly, which includes the frontal fork, the handlebars, and the front wheel in a seamless subsystem, is implicitly formulated through the definition of three successive rotations, and this approach is used to propose an explicit formulation of its inherent set of Euler angles. In general, the numerical results developed in the present work compare favorably with those found in the literature about vehicle kinematics and contact geometry.

Modeling and prototyping of a soft closed-chain modular gripper

2019 ◽  
Vol 46 (1) ◽  
pp. 135-145 ◽  
Author(s):  
Muddasar Anwar ◽  
Toufik Al Khawli ◽  
Irfan Hussain ◽  
Dongming Gan ◽  
Federico Renda
Keyword(s):  
Mathematical Model ◽  
Degrees Of Freedom ◽  
Kinematic Model ◽  
Chain Structure ◽  
Mathematical Representation ◽  
Mathematical Framework ◽  
Complex Objects ◽  
Content Type ◽  
Design And Optimization ◽  
Closed Chain

Purpose This paper aims to present a soft closed-chain modular gripper for robotic pick-and-place applications. The proposed biomimetic gripper design is inspired by the Fin Ray effect, derived from fish fins physiology. It is composed of three axisymmetric fingers, actuated with a single actuator. Each finger has a modular under-actuated closed-chain structure. The finger structure is compliant in contact normal direction, with stiff crossbeams reorienting to help the finger structure conform around objects. Design/methodology/approach Starting with the design and development of the proposed gripper, a consequent mathematical representation consisting of closed-chain forward and inverse kinematics is detailed. The proposed mathematical framework is validated through the finite element modeling simulations. Additionally, a set of experiments was conducted to compare the simulated and prototype finger trajectories, as well as to assess qualitative grasping ability. Findings Key Findings are the presented mathematical model for closed-loop chain mechanisms, as well as design and optimization guidelines to develop controlled closed-chain grippers. Research limitations/implications The proposed methodology and mathematical model could be taken as a fundamental modular base block to explore similar distributed degrees of freedom (DOF) closed-chain manipulators and grippers. The enhanced kinematic model contributes to optimized dynamics and control of soft closed-chain grasping mechanisms. Practical implications The approach is aimed to improve the development of soft grippers that are required to grasp complex objects found in human–robot cooperation and collaborative robot (cobot) applications. Originality/value The proposed closed-chain mathematical framework is based on distributed DOFs instead of the conventional lumped joint approach. This is to better optimize and understand the kinematics of soft robotic mechanisms.

Optimization of Stochastic Multibody Systems

1995 ◽  
Author(s):  
Peter Eberhard ◽  
Werner Schiehlen ◽  
Dieter Bestle
Keyword(s):  
Dynamic Systems ◽  
Vehicle Dynamics ◽  
Multibody Systems ◽  
System Approach ◽  
Multibody System ◽  
Optimization Algorithms ◽  
Stochastic Approach ◽  
Scalar Optimization ◽  
Computer Aided ◽  
And Robotics

Abstract The multibody system approach is used for the investigation of mechanical systems with large motions, e.g. in vehicle dynamics and robotics. Important modules of a computer-aided tool proposed for analysis and optimization are filtering techniques and scalar optimization algorithms. Formfilters are used for the creation of stochastic exciations and criterion computations. Typical properties of deterministic and stochastic scalar optimization algorithms with application to dynamic systems are presented and a hybrid deterministic-stochastic approach is proposed which combines the advantages of both algorithm types. An application to vehicle dynamics clarifies the optimization concept.

A Multibody System Approach to the Wedge Damper Friction Formulation

2009 ◽  
Author(s):  
Leonardo B. Baruffaldi ◽  
Henrique B. de Arau´jo ◽  
Auteliano A. dos Santos
Keyword(s):  
Mathematical Modeling ◽  
System Approach ◽  
Multibody System ◽  
Past Century ◽  
Body Model ◽  
The Past ◽  
Frictional Damping ◽  
Friction Models ◽  
Secondary Suspension ◽  
Multi Body

Secondary suspension of railway three-piece-trucks hasn’t changed much in the past century. Despite this, its most common damping element, the friction wedge, is not yet fully understood. The frictional damping is a known source of non-linearity and non-smoothness that imposes chaotic behaviors to the system, making the mathematical modeling of such devices a difficult task. The present paper presents a multi-body model of a three-piece-truck’s secondary suspension and the results of its simulations with three types of commonly used friction models.

scholarly journals Development of a design concept for a prototype transport device using the Design Thinking method

2021 ◽  
Vol 338 ◽  
pp. 01016
Author(s):  
Bartosz Mazurek ◽  
Jarosław Mamala
Keyword(s):  
Patent Protection ◽  
Design Thinking ◽  
Load Capacity ◽  
Front Wheel ◽  
Prototype Model ◽  
Original Design ◽  
Real Model ◽  
Wheeled Vehicles ◽  
Transport Device

The article presents the development of a multifunctional prototype transport device mounted on a towing hook of a passenger car, used to transport motorcycles and light four-wheeled vehicles, based on the Design Thinking method. The device, in its original design, has obtained patent protection from the Patent Office [1]. The use of the device in real road conditions requires the solution of many technical, ergonomic, endurance and functional problems, and in the final phase the implementation of the final device. The authors of the study presented the most important construction works described in terms of the analysis of the key strength nodes of the transport device. The boundary conditions for the weight of the device and the forces acting on the device were based on literature data on the load capacity of hooks used in passenger vehicles, the weight of motorcycles in accordance with the classification, which was verified in the identification tests on the real model, taking into account the height of the front wheel suspension of the transported motorcycle. According to the data analysis, the mass of the transport device should oscillate within 10 kg, and the reference point for the construction work is the prototype model made of s235 steel with a net weight of 28 kg. On this basis, the work presents simulations of a static load with the determination of stresses in the material, deformation and mass calculation for various design versions. In the final stage, the target construction version, designed from two materials, i.e. steel s235 and aluminium 6081, was compared. As a result of the analysis, the target construction reduced the weight of the transport device by 17 kg.

Automotive Powertrain Vibrations Running on Wide Open Throttle Engine Conditions

2013 ◽  
Author(s):  
Hugo Heidy Miyasato ◽  
Vinícius Gabriel Segala Simionatto ◽  
Milton Dias Júnior
Keyword(s):  
Automotive Industry ◽  
System Approach ◽  
Dynamic Behaviour ◽  
Combustion Engine ◽  
Front Wheel ◽  
Output Torque ◽  
Wheel Drive ◽  
Automotive Powertrain ◽  
Noise Vibration ◽  
Thermodynamic Equations

Powertrain vibrations is a great concern in the automotive industry, once they are related to many Noise, Vibration and Harshness (NVH) phenomena. These are very complex system once their dynamic behaviour, in many cases, involve the interaction between the combustion engine and the remaing components of the powertrain, such as the clutch, transmission, differential, etc. In this work a system approach is used. First, the torque generated by a four cylinder engine is obtained through the thermodynamic equations. Then, these torque curves for each cylinder are combined and used as the excitation of a simplified model of a front wheel drive powertrain. Finally, the influence of ignition angles on the combustion characteristics and on the order content of engine output torque is analyzed. Results show that significant changes may happen on the second and fourth order responses.

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