Pub Date : 1900-01-01DOI: 10.3311/eccomasmbd2021-164
Dustin Berendsen, A. Sridhar, R. Aarts
{"title":"A compliant and redundantly actuated 2-DOF 3RRR PKM: Less is more","authors":"Dustin Berendsen, A. Sridhar, R. Aarts","doi":"10.3311/eccomasmbd2021-164","DOIUrl":"https://doi.org/10.3311/eccomasmbd2021-164","url":null,"abstract":"","PeriodicalId":431921,"journal":{"name":"Proceedings of the 10th ECCOMAS Thematic Conference on MULTIBODY DYNAMICS","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115114762","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 1900-01-01DOI: 10.3311/eccomasmbd2021-251
Ajith Jogi, S. Chandramohan, Sabyasachi Dash
Tractor-semitrailers face the issue of off-tracking which restricts their movement through congested areas. One of the innovative and passive methods to reduce offtracking in tractor-semitrailers is to implement a Split fifth wheel coupling (SFWC). Studies show that off-tracking is reduced by up to 21% for a circular turning manoeuvre. The handling performance of the tractor-semitrailer with SFWC is not evaluated yet and hence needs to be ad-dressed. In the present work, in order to assess the handling performance of the vehicle with SFWC, simulations are carried out for ISO double lane change manoeuvre at various speeds. The results are compared with those of the Conventional fifth wheel coupling (CFWC) model to understand the relative performance of the tractor-semitrailer with SFWC. The results show that the performance of tractor-semitrailers with SFWC is on par with that of vehicles with CFWC at lower speeds; in fact, for speeds below 40 kmph, the lateral acceleration experienced by the semitrailer of SFWC vehicle is less compared to that of CFWC vehicle. However, it becomes a little unstable at higher speeds. With the development of stability control systems like Electronic stability control (ESC), optimized for tractor-semitrailers with SFWC, their performance would improve.
{"title":"Handling Evaluation of Tractor-semitrailer with Split Fifth Wheel Coupling Undergoing an ISO Double Lane Change Manoeuvre","authors":"Ajith Jogi, S. Chandramohan, Sabyasachi Dash","doi":"10.3311/eccomasmbd2021-251","DOIUrl":"https://doi.org/10.3311/eccomasmbd2021-251","url":null,"abstract":"Tractor-semitrailers face the issue of off-tracking which restricts their movement through congested areas. One of the innovative and passive methods to reduce offtracking in tractor-semitrailers is to implement a Split fifth wheel coupling (SFWC). Studies show that off-tracking is reduced by up to 21% for a circular turning manoeuvre. The handling performance of the tractor-semitrailer with SFWC is not evaluated yet and hence needs to be ad-dressed. In the present work, in order to assess the handling performance of the vehicle with SFWC, simulations are carried out for ISO double lane change manoeuvre at various speeds. The results are compared with those of the Conventional fifth wheel coupling (CFWC) model to understand the relative performance of the tractor-semitrailer with SFWC. The results show that the performance of tractor-semitrailers with SFWC is on par with that of vehicles with CFWC at lower speeds; in fact, for speeds below 40 kmph, the lateral acceleration experienced by the semitrailer of SFWC vehicle is less compared to that of CFWC vehicle. However, it becomes a little unstable at higher speeds. With the development of stability control systems like Electronic stability control (ESC), optimized for tractor-semitrailers with SFWC, their performance would improve.","PeriodicalId":431921,"journal":{"name":"Proceedings of the 10th ECCOMAS Thematic Conference on MULTIBODY DYNAMICS","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123080724","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 1900-01-01DOI: 10.3311/eccomasmbd2021-144
Muhannad Hawwash, Vanessa Dörlich, J. Linn, R. Müller, R. Keller
This contribution focuses on the investigation of inelastic structural effects occurring during the bending deformation of cables using detailed finite element models of helix wire strands. Due to the complex structure of cables usually consisting of con-centric layers of intertwined wires, shields and the outer jacket, inelastic deformation behaviour has to be expected. In this work, we model simplified cables as strands of helix wires discretised with quadratic beam elements to investigate the influence of geometric parameters such as the helix angle of the wires and the interactions of the wires by means of frictionless or frictional contact models. Starting at low model complexity, we use double wire and seven wire models to simulate pure bending of intertwined strands omitting material inelasticity to avoid superposition of structural and material effects. Different variations of contact states in the undeformed configuration of the seven wire strand are taken into account allowing for the direct observation of the influence of active contacts on the strand’s bending response. First steps towards modelling the interactions between wires and objects relevant in cable bundle assembly, e.g. cable ties or clips, are presented for the double wire model. The presented models yield a valuable toolbox for the investigation of specific structural parameters affecting the deformation behaviour of cables.
{"title":"Effective Inelastic Bending Behavior of Multi-Wire Cables Using Finite Elements Accounting forWire Contact","authors":"Muhannad Hawwash, Vanessa Dörlich, J. Linn, R. Müller, R. Keller","doi":"10.3311/eccomasmbd2021-144","DOIUrl":"https://doi.org/10.3311/eccomasmbd2021-144","url":null,"abstract":"This contribution focuses on the investigation of inelastic structural effects occurring during the bending deformation of cables using detailed finite element models of helix wire strands. Due to the complex structure of cables usually consisting of con-centric layers of intertwined wires, shields and the outer jacket, inelastic deformation behaviour has to be expected. In this work, we model simplified cables as strands of helix wires discretised with quadratic beam elements to investigate the influence of geometric parameters such as the helix angle of the wires and the interactions of the wires by means of frictionless or frictional contact models. Starting at low model complexity, we use double wire and seven wire models to simulate pure bending of intertwined strands omitting material inelasticity to avoid superposition of structural and material effects. Different variations of contact states in the undeformed configuration of the seven wire strand are taken into account allowing for the direct observation of the influence of active contacts on the strand’s bending response. First steps towards modelling the interactions between wires and objects relevant in cable bundle assembly, e.g. cable ties or clips, are presented for the double wire model. The presented models yield a valuable toolbox for the investigation of specific structural parameters affecting the deformation behaviour of cables.","PeriodicalId":431921,"journal":{"name":"Proceedings of the 10th ECCOMAS Thematic Conference on MULTIBODY DYNAMICS","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128314284","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 1900-01-01DOI: 10.3311/eccomasmbd2021-201
Jason Bettega, D. Richiedei, A. Trevisani
{"title":"Path Tracking in Cable Suspended Parallel Robots through Position- Dependent Model Predictive Control with Embedded Integrator","authors":"Jason Bettega, D. Richiedei, A. Trevisani","doi":"10.3311/eccomasmbd2021-201","DOIUrl":"https://doi.org/10.3311/eccomasmbd2021-201","url":null,"abstract":"","PeriodicalId":431921,"journal":{"name":"Proceedings of the 10th ECCOMAS Thematic Conference on MULTIBODY DYNAMICS","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129832240","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 1900-01-01DOI: 10.3311/eccomasmbd2021-170
M. Pinelli, M. Giovannucci, A. Martini
{"title":"Analysis of the Dynamic Behavior of a Counterbalance Forklift Truck through Multibody Modelling and Simulation","authors":"M. Pinelli, M. Giovannucci, A. Martini","doi":"10.3311/eccomasmbd2021-170","DOIUrl":"https://doi.org/10.3311/eccomasmbd2021-170","url":null,"abstract":"","PeriodicalId":431921,"journal":{"name":"Proceedings of the 10th ECCOMAS Thematic Conference on MULTIBODY DYNAMICS","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130401888","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 1900-01-01DOI: 10.3311/eccomasmbd2021-116
Sarra Gismelseed, Amur S. Al Yahmedi, R. Zaier, H. Ouakad, I. Bahadur
{"title":"An Efficient Discrete Model of a Simple Biped with a Torso","authors":"Sarra Gismelseed, Amur S. Al Yahmedi, R. Zaier, H. Ouakad, I. Bahadur","doi":"10.3311/eccomasmbd2021-116","DOIUrl":"https://doi.org/10.3311/eccomasmbd2021-116","url":null,"abstract":"","PeriodicalId":431921,"journal":{"name":"Proceedings of the 10th ECCOMAS Thematic Conference on MULTIBODY DYNAMICS","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134645303","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 1900-01-01DOI: 10.3311/eccomasmbd2021-140
Pascal V. Preiswerk, R. Leine
One of the main difficulties in the state observer design for impulsive mechanical systems is the so-called peaking phenomenon: even for an arbitrarily small pre-impact estimation error, a slight mismatch between the impact time instants of the observer and the observed system can lead to large post-impact estimation error. Therefore, Lyapunov’s stability theorems cannot be directly applied. For linear mechanical systems with unilateral constraints, we propose to take a Nonsmooth Dynamics perspective on the problem, which allows to sidestep the main difficulties by transforming and approximating the original continuous-time system by a discrete linear complementarity system through the use of the Schatzman-Paoli scheme. The discretization acts as a regularization, i.e. the impacts take place over two consecutive time steps. Furthermore, it involves force and impact laws on position-level with the favorable property of maximal monotonicity. Finally, a passivity-based observer design for discrete linear complementarity systems can be applied.
{"title":"A Nonsmooth Dynamics Perspective on State Observer Design for Mechanical Systems with Unilateral Constraints","authors":"Pascal V. Preiswerk, R. Leine","doi":"10.3311/eccomasmbd2021-140","DOIUrl":"https://doi.org/10.3311/eccomasmbd2021-140","url":null,"abstract":"One of the main difficulties in the state observer design for impulsive mechanical systems is the so-called peaking phenomenon: even for an arbitrarily small pre-impact estimation error, a slight mismatch between the impact time instants of the observer and the observed system can lead to large post-impact estimation error. Therefore, Lyapunov’s stability theorems cannot be directly applied. For linear mechanical systems with unilateral constraints, we propose to take a Nonsmooth Dynamics perspective on the problem, which allows to sidestep the main difficulties by transforming and approximating the original continuous-time system by a discrete linear complementarity system through the use of the Schatzman-Paoli scheme. The discretization acts as a regularization, i.e. the impacts take place over two consecutive time steps. Furthermore, it involves force and impact laws on position-level with the favorable property of maximal monotonicity. Finally, a passivity-based observer design for discrete linear complementarity systems can be applied.","PeriodicalId":431921,"journal":{"name":"Proceedings of the 10th ECCOMAS Thematic Conference on MULTIBODY DYNAMICS","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122761050","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 1900-01-01DOI: 10.3311/eccomasmbd2021-114
Raúl Gismeros Moreno, Eduardo Corral Abad, Jesús Meneses Alonso, M. J. Gómez García, Cristina Castejón Sisamón
This work focuses its scope on the smooth contact approach and its management of multiple contact events, proposing several models developed under this methodology and discussing the main issues that have arisen when designing, modelling, and verifying them. The main purpose of this paper is to provide a reference to those researchers that work with smooth methods in the context of multibody dynamics of how to deal with them. Among the models presented, there are some engineering-focused ones, whereas the readers can also find some more practical, day-to-day examples.
{"title":"Synchronous Contact/Impact Events Modelling With A Smooth-Based Approach","authors":"Raúl Gismeros Moreno, Eduardo Corral Abad, Jesús Meneses Alonso, M. J. Gómez García, Cristina Castejón Sisamón","doi":"10.3311/eccomasmbd2021-114","DOIUrl":"https://doi.org/10.3311/eccomasmbd2021-114","url":null,"abstract":"This work focuses its scope on the smooth contact approach and its management of multiple contact events, proposing several models developed under this methodology and discussing the main issues that have arisen when designing, modelling, and verifying them. The main purpose of this paper is to provide a reference to those researchers that work with smooth methods in the context of multibody dynamics of how to deal with them. Among the models presented, there are some engineering-focused ones, whereas the readers can also find some more practical, day-to-day examples.","PeriodicalId":431921,"journal":{"name":"Proceedings of the 10th ECCOMAS Thematic Conference on MULTIBODY DYNAMICS","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130538030","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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