Modular Multibody Formulation for Simulating Off-Road Tracked Vehicles

Mohamed A Omar

Abstract


This paper presents a formulation and procedure for incorporating the multibody dynamics analysis capability of tracked vehicles in large-scale multibody system.  The proposed self-contained modular approach could be interfaced to any exiting multibody simulation code without need to alter the existing solver architecture.  Each track is modeled as a super-component that can be treated separate from the main system.  The super-component can be efficiently used in parallel processing environment to reduce the simulation time.  In the super-component, each track-link is modeled as separate body with full 6 degrees of freedom (DoF).  To improve the solution stability and efficiency, the joints between track links are modeled as complaint connection.  The spatial algebra operator is used to express the motion quantities and develop the link’s nonlinear kinematic and dynamic equations of motion.  The super-component interacts with the main system through contact forces between the track links and the driving sprocket, the support rollers and the idlers using self-contained force modules.  Also, the super-component models the interaction with the terrain through force module that is flexible to include different track-soil models, different terrain geometries, and different soil properties.  The interaction forces are expressed in the Cartesian system, applied to the link’s equation of motion and the corresponding bodies in the main system.  For sake of completeness, this paper presents dynamic equations of motion of the links as well as the main system formulated using joint coordinates approach.

Full Text:

PDF

References


ADAMS Standard Documentation and Help, MSC Software Corporation, MD/ADAMS R3 2007

McCullough, M.K. and E.J. Haug, Dynamics of High Mobility Track Vehicles. ASME Paper No. 85-DET-95, 1985.

Choi, J.H., H.C. Lee and A.A. Shabana, “Spatial Dynamics of Multibody Tracked Vehicles Part I: Spatial Equations of Motion”. Vehicle System Dynamics, 1998. 29: p. 27-49.

Choi, J.H., H.C. Lee and A.A. Shabana, “Spatial Dynamics of Multibody Tracked Vehicles Part II: Contact Forces and simulation Results”. Vehicle System Dynamics, 1998. 29: p. 113-137.

Ryu, H. S., Bae, D.S., Choi, J.H., and Shabana, A.A., “A compliant track link model for high speed, high-mobility tracked vehicles”. Intl Journal for Numerical Methods in Engineering, 2000. 48: p. 1481-1502.

Ryu, H. S., Huh, K.S., Bae, D.S., Choi, J.H., “Development of a Multibody Dynamics Simulation Tool for Tracked Vehicles (Part I, Efficient Contact and Nonlinear Dynamics Modeling)”. JSME International Journal, 2003. 46(2).

Sandu, C. and J.S. Freeman, Military tracked vehicle model. Part I: multibody dynamic formulation. International Journal of Vehicle Systems Modelling and Testing, 2005. 1(1/2/3): p. 48-67.

Ma, Z. and N.C. Perkins, A Super-Element of Track-Wheel-Terrain Interaction for Dynamic Simulation of Tracked Vehicles. Multibody System Dynamics, 2006. 15: p. 351-372.

Madsen, J., "High Fidelity Modeling and Simulation of Tracked Elements for Off-Road Applications Using MSC/ADAMS: Technical Report TR-2007-02," Simula-tion-Based Engineering Laboratory, University of Wiscon-sin, Madison, 2007.

Madsen, J., N. Pechdimaljian and D. Negrut, "Penalty versus complementarity-based frictional contact of rigid bodies: a CPU time comparison: Technical Report TR-2007-05," Simulation-Based Engineering Laboratory, University of Wisconsin, Madison.,2007.

Pedersen, S.L., Hansen, J.M. and Ambrósio, J. A Roller Chain Drive Model Including Contact with Guide-Bars. Multibody System Dynamics, 12: 285-301, 2004.

Pedersen, Sine Leergaard “Simulation and Analysis of Roller Chain Drive Systems”, Phd dissertation, Technical University of Denmark, 2004.

Pereira, C., Ramalho, A. and Ambrósio, J. A,” Critical Overview of Internal and External Cylindrical Contact Force Models. Nonlinear Dynamics”, DOI: 10.1007/s11071-010-9830-3, 2010.

Pereira, C., Ambrósio, J., Ramalho, A. and Flores, P. “A methodology for the generation of models for multibody chain drives”, Multibody System Dynamics, 24(3): 303-324, 2010

Pereira, C, Ambrósio, J, Ramalho , A, “Contact Mechanics In A Roller Chain Drive Using A Multibody Approach”, 13th World Congress in Mechanism and Machine Science, Guanajuato, México, June, 2011.

Flores, P. and Ambrósio, J. On the Contact Detection for Contact- Impact Analysis in Multibody Systems, Multibody System Dynamics, 24(1): 103-122, 2010.

Dubowsky, S., “On Predicting the Dynamic Effects of Clearances in One-Dimensional Closed Loop Systems”. Journal of Engineering for Industry, Series B, 96: 324-329, 1974.

Flores, P. and Ambrósio J. Revolute Joints with Clearance in Multibody Systems. Computers & Structures, 82: 1359-1369, 2004.

Gottschalk, S., M.C. Lin and D. Manocha, "OBB-Tree: A Hierarchical Structure for Rapid Interference Detection," University of North Carolina, 1996.

Janosi, Z. and B. Hanamoto. An Analysis of the Drawbar Pull vs. Slip Relationship for Track Laying Vehicles. in 1st ISTVS. 1961. Turin.

Bekker, M.G., Introduction to Terrain-Vehicle Systems. 1969, Ann Arbor, MI: University of Michigan Press.

Rubinstein, D. and R. Hitron, A detailed multi-body model for dynamic simulation of offroad tracked vehicles. Journal of Terramechanics, 2004. 41: p. 163-173.

Wong, J.Y. and J. Preston-Thomas, On the Characterization of the Shear-Stress-Displacement Relationship of Terrain. Journal of Terramechanics, 1983. 19(4).

Wong, J.Y. and M.G. Bekker, Terrain Vehicle Systems Analysis, Monograph, Department of Mechanical and Aerospace Engineering: Carleton University, Ottawa, Ont., Canada. 1976-78, 1980 and 1985

Wong, J.Y., "Evaluation of Soil Strength Measurements," Report no. NRCC 22881, Division of Energy, National Research Council of Canada, 1983.

Wong, J.Y., M. Garber and J. Preston-Thomas, Theoretical Prediction and Experimental Substantiation of the Ground Pressure Distribution and Tractive Performance of Tracked Vehicles. Transport Engineering, 1984. 198(no. D15).

Wong, J.Y., Terramechanics and Off-Road Vehicles. 1989, Amsterdam: Elsevier Science.

Wong, J.Y., Theory of Ground Vehicles. 3rd ed. 2001, New York: Wiley Interscience.

Petzold, L, and Wehage, R, “Real Time Simulation of Large Scal Multibody Systems Using Automated Equation Decoupling Techniques”. 1994, US Army Research Office.

Featherstone, R. Rigid Body Dynamics Algorithms, New York, Springer, 2008.

Featherstone, R., “Efficient Factorization of the joint Space Inertia Matrix for Branched Kinematic Trees” Int J of Ro-botics Research, 24 (6): 487-500, 2005.

Johnson, K.L. Contact Mechanics, Cambridge University Press, Cambridge, United Kingdom, 1994.

Roberson, R.E., Ming-Ming, Z., “Generalized correction of numerical errors in kinematical differential equations based on Euler normalized parameters”, Acta Mechanica, June 1986, Volume 59, Issue 3-4, pp 133-138.

Shabana, A. A., Computational Dynamics, John Willy & Sons, Inc., Second edition, 2001.

Shampine, L. and Gordon, M. Computer Solution of Ordinary Differential Equations: The Initial Value Problem, Freeman, San Francisco, California, 1975.

Stronge, W. J., “Impact Mechanics”, Cambridge University Press, 2004.

Mohamed A Omar, “Static Analysis of Large-Scale Multi-body System Using Joint Coordinates and Spatial Algebra Operator”, The Scientific World Journal, Vol 2014, 409402. In Press.

Mohamed A Omar, “Chain Drive Simulation Using Spatial Multibody Dynamics”, Journal of Advances in Mechanical Engineering, Vol 2014, 378030, In Press.

Mohamed A. Omar, “Modeling Flexible Bodies in Multibody Systems in Joint Coordinates Formulation Using Spatial Algebra”, Journal of Advances in Mechanical Engineering, Vol 2014, Article ID 468986, 2014. doi:10.1155/2014/468986.

Ascher, U. M. and Petzold, L. R., “Computer Methods for Ordinary Differential Equations and Differential-Algebraic Equations” 1998, ISBN: 0898714125, Society for Industrial and Applied Mathematics, Philadelphia, PA.

Brenan, K. E., Campbell, S. L., Petzold, L.R., “Numerical Solutions of Initial-Value Problems in Differential-Algebraic Equations”, Siam, North-Holland, New York, 1996.




DOI: https://doi.org/10.11114/set.v1i2.462

Refbacks

  • There are currently no refbacks.


Studies in Engineering and Technology   ISSN 2330-2038 (Print)   ISSN 2330-2046 (Online)

Copyright © Redfame Publishing Inc.

To make sure that you can receive messages from us, please add the 'redfame.com' domain to your e-mail 'safe list'. If you do not receive e-mail in your 'inbox', check your 'bulk mail' or 'junk mail' folders.

-------------------------------------------------------------------------------------------------------------------------------------------------------------