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Contact-impact processes occur at most cases in multibody systems. Sub-periods and sub-regional methods are frequently used recently, and different coordinates are introduced in both of the approaches. However, the sub-regional method seems to be more effective. Floating frame of reference formulation is widely used for contact treatment, which describes displacements by the rigid body motion and...
A crucial system for the operation of high-speed trains is the pantograph catenary interface as it is the sole responsible to deliver electrical power to the train. Being the catenary a stationary system with a long lifespan it is also less likely to be redesigned and upgraded than the pantographs that fit the train vehicles. This letter proposes an optimization procedure for the improvement of the...
To increase the competition of the solar energy collection system, the size of the solar panel module during the manufacturing process is being increased continuously. As the size of the solar panel increases, the size of the robot to handle the panel increased also. The change in scale of the robot inevitably results in the amplification of the adverse effect of the flexure. The main source of the...
In the present research two different whole vehicle multibody models are established respectively, including rigid and rigid-flexible coupling multibody vehicle models. The former is all composed by rigid bodies while in the later model, the flexible rear suspension is built based on the finite element method (FEM) and mode superposition method, in which the deformations of the components are considered...
The fine-scale heterogeneity of granular material is characterized by its polydisperse microstructure with randomness and no periodicity. To predict the mechanical response of the material as the microstructure evolves, it is demonstrated to develop computational multiscale methods using discrete particle assembly-Cosserat continuum modeling in micro- and macro- scales, respectively. The computational...
Hardware in the loop simulation (HILS) has been investigated in the field of the multibody dynamics (MBD), which combined the MBD simulation with the actual mechanical system. The fast simulation is necessary for the HILS system in order to require the real time simulation. This paper presents a fast simulation technique using the domain decomposition method with the iteration in the flexible multibody...
Walking without impacts has been considered in dynamics as a motion/force control problem. In order to avoid impacts, an approach for both the specified motion of the biped and its ground reaction forces was presented yielding a combined motion and force control problem. As an application, a walker on a horizontal plane has been considered. In this paper, it is shown how the control of the ground...
This letter presents a new analytical approximation for wave (current)-induced dynamic soil response in marine sediments. In the model, the third-order approximation for wave-current interactions is employed for the flow model, while Biot's dynamic poro-elastic model is used to simulate the porous flow in a seabed. The newly analytical solution is validated with the field observations. Based on the...
In the EasyDyn multibody open source project, computer algebra has been used from the beginning to generate the expressions of velocities and accelerations of the bodies, by symbolic differentiation of their position. Originally, the MuPAD computer algebra system had been retained because it was freely available for non commercial purposes and showed very good technical features. Unfortunately, MuPAD...
In this paper, we study symmetry reduction for a binary asteroid system modeled by a rigid body and a particle. In particular, we demonstrate how translational and rotational symmetry reduction appeared in the binary asteroid system can be carried out in the context of Dirac reduction by stages and with the associated reduction of implicit Hamiltonian systems. Then we investigate stability of relative...
Defects in kinematic joints can sometimes highly influence the simulation response of the whole multibody system within which these joints are included. For instance, the clearance, the friction, the lubrication and the flexibility affect the transient behaviour, reduce the component life and produce noise and vibration for classical joints such as prismatics, cylindrics or universal joints. In this...
The prediction accuracy of a simulation method is limited by its theoretical background. This fact can lead to disadvantages regarding the simulation quality when investigating systems of high complexity, e.g. containing components showing a fairly different behavior. To overcome this limitation, co-simulation approaches are used more and more, combining the advantages of different simulation disciplines...
Effects of wall mounted cavity on a Mach 1.7 freestream flow over it are investigated experimentally and numerically. Three different three dimensional (3D) cavity configurations have been used in the study. The results are compared with those of a two dimensional (2D) cavity. Flow field over the cavity is observed to depend intensely on the cavity width and on the allied aerodynamic flow structure...
In this contribution, inside turning of a thin-walled cylinder is investigated in simulation. Self-excited vibrations can arise due to repeated cutting of the same surface, that lead to instability. A flexible multibody system model of the system is the basis for a subsequent analysis of the stability of the process. Stability analysis is done using an approximation as a time-discrete system via the...
From the viewpoints of environmental protection, support for the aged and ensuring the right to mobility, there is a need to develop a new type of mobility vehicle that provides more effective transportation. The authors propose an inverted pendulum vehicle with pedals as one of the forms of personal mobility vehicles (PMVs). In this paper, the steering performance of the inverted pendulum vehicle...
Cementation is produced by mixing a certain amount of cement with the saturated clay. The purpose of this paper is to model the cementation effect on the mechanical behavior of cement-treated clay. A micromechanical stress-strain model is developed considering explicitly the cementation at inter-cluster contacts. The inter-cluster bonding and debonding during mechanical loading are introduced in two...
In a recent study, a regime chart was established for sheared granular systems. For a soft particle system under simple shear, the internal stress showed a range of rate dependency. As the particle concentration increased, the system transitioned from a kinetic gas to a plastic solid. This transition was gradual for low stiffness systems but became more abrupt as the stiffness increased. In this study,...
This letter presents a theoretical model of the normal (head-on) collisions between two soft spheres for predicting the experimental characteristic of the coefficient of restitution dependent on impact velocity. After the contact force law between the contacted spheres during a collision is phenomenologically formulated in terms of the compression or overlap displacement under consideration of an...
An alternate yet general form of the classical effective thermal conductivity model (Maxwell model) for two-phase porous materials is presented, serving an explicit thermo-physical basis. It is demonstrated that the reduced effective thermal conductivity of the porous media due to non-conducting pore inclusions is caused by the mechanism of thermal stretching, which is a combination of reduced effective...
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