Simulation of planar flexible multibody systems with clearance and lubricated revolute joints

Modeling of clearance joints plays an important role in the analysis and design of multibody mechanical systems. Based on the absolute nodal coordinate formulation (ANCF), a new computational methodology for modeling and analysis of planar flexible multibody systems with clearance and lubricated revolute joints is presented. A planar absolute nodal coordinate formulation based on the locking-free shear deformable beam element is implemented to discretize the flexible bodies. A continuous contact-impact model is used to evaluate the contact force, in which energy dissipation in the form of hysteresis damping is considered. A force transition model from hydrodynamic lubrication forces to dry contact forces is introduced to ensure continuity in the joint reaction force. A comprehensive study with different lubrication force models has also been carried out. The generalized-α method is used to solve the equations of motion and several efficient methods are incorporated in the proposed model. Finally, the methodology is validated by two numerical examples.     

An Experimental-Numerical Hybrid Method for Elastic Contact Problems*

ABSTRACT

An experimental-numerical hybrid technique for determining the contact stress distribution between two elastic bodies having both frictionless as well as bonded contact is discussed in this paper. The hybrid method makes use of experimental data collected at a section far from the contact surface and the numerically generated influence coefficients, in terms of the applied unit normal and shear stresses. The experimental data, i.e., the differences in normal stresses and the shear stress, are obtained using photoelastic analysis for the examples illustrated in this paper. When substituted into equations corresponding to the unit normal and shear stress applied in the contact region, this results in a set of algebraic equations which, when solved, allow the contact stress distribution to be obtained. This method is illustrated with examples involving simple and complex geometries of the contacting bodies.     

Three-dimensional problems of the hydrodynamic interaction between bodies in a viscous fluid in the vicinity of their contact

The study is devoted to the hydrodynamic interaction between bodies near their contact. The stresses produced in a narrow gap between the bodies in the vicinity of their contact determine the main part of forces acting on the bodies in motion. In many cases, the velocity and pressure fields in the vicinity of the contact can be determined and the main asymptotics for the hydrodynamic interaction force in the small spacing between the surfaces can be derived. An overview of the three-dimensional problems solved using this method is presented and for certain problems new formulations are given. The reliability of the results is confirmed by the comparison with available exact particular solutions and experimental data.     

Hydrodynamics of the interaction between bodies in a viscous fluid in the vicinity of their contact at low and high Reynolds numbers

An interaction between bodies in the vicinity of their contact is investigated. Stresses determining the main part of the forces acting on the bodies in motion are produced in a narrow gap between the bodies in the vicinity of their contact. In many cases the velocity and pressure fields in the vicinity of the contact can be determined and the main asymptotics for the hydrodynamic interaction force can be constructed in the small distance between the surfaces. An overview of the problems solved using this approach is presented. For certain problems new formulations are given. The plausibility of the results is confirmed by comparing with the available exact particular solutions and the experimental data. Owing to the restrictions on the size of the paper, only two-dimensional problems are considered, although the approach developed can be applied to the solution of three-dimensional problems as well.     

Analysis and numerical simulation of magnetic forces between rigid polygonal bodies. Part I: Analysis

The mathematical and physical analysis of magnetoelastic phenomena is a topic of ongoing research. Different formulae have been proposed to describe the magnetic forces in macroscopic systems. We discuss several of these formulae in the context of rigid magnetized bodies. In case the bodies are in contact, we consider formulae both in the framework of macroscopic electrodynamics and via a multiscale approach, i.e., in a discrete setting of magnetic dipole moments. We give mathematically rigorous proofs for domains of polygonal shape (as well as for more general geometries) in two and three space dimensions. In an accompanying second article, we investigate the formulae in a number of numerical experiments, where we focus on the dependence of the magnetic force on the distance between the bodies and on the case when the two bodies are in contact. The aim of the analysis as well as of the numerical simulation is to contribute to the ongoing debate about which formula describes the magnetic force between macroscopic bodies best and to stimulate corresponding real-life experiments.      

Formulating Three-Dimensional Contact Dynamics Problems

ABSTRACT

Complementarity formulations are a promising approach for solving dynamic multi-rigid-body contact problems. Two aspects of simulating contact in a complementarity setting are addressed here. First, an explicit formulation of the differential equations governing contact points for bodies of general surface geometry is developed. These equations may be used to integrate the contact position and to set up the basic dynamics equations. Second, an efficient method for handling frictionless planar contacts of arbitrary boundary shape is presented. Throughout, the problem is set up as explicitly as possible, with special attention being given to the way that the contact geometry is related to the dynamics.     

含摩擦与碰撞平面多刚体系统动力学线性互补算法

基于接触力学理论和线性互补问题的算法, 给出了一种含接触、碰撞以及库伦干摩擦, 同时具有理想定常约束(铰链约束) 和非定常约束(驱动约束) 的平面多刚体系统动力学的建模与数值计算方法. 将系统中的每个物体视为刚体, 但考虑物体接触点的局部变形, 将物体间的法向接触力表示成嵌入量与嵌入速度的非线性函数,其切向摩擦力采用库伦干摩擦模型. 利用摩擦余量和接触点的切向加速度等概念, 给出了摩擦定律的互补关系式; 并利用事件驱动法, 将接触点的黏滞-滑移状态切换的判断及黏滞状态下摩擦力的计算问题转化成线性互补问题的求解. 利用第一类拉格朗日方程和鲍姆加藤约束稳定化方法建立了系统的动力学方程, 由此可降低约束的漂移, 并可求解该系统的运动、法向接触力和切向摩擦力, 还可以求解理想铰链约束力和驱动约束力. 最后以一个类似夯机的平面多刚体系统为例, 分析了其动力学特性, 并说明了相关算法的有效性.      

A Variational Approach to Dynamics of Flexible Multibody Systems

Abstract

This paper presents a variational formulation of constrained dynamics of flexible multibody systems, using a vector-variational calculus approach. Body reference frames are used to define global position and orientation of individual bodies in the system, located and oriented by position of its origin and Euler parameters, respectively. Small strain linear elastic deformation of individual components, relative to their body reference frames, is defined by linear combinations of deformation modes that are induced by constraint reaction forces and normal modes of vibration. A library of kinematic couplings between flexible and/or rigid bodies is defined and analyzed. Variational equations of motion for multibody systems are obtained and reduced to mixed differential-algebraic equations of motion. A space structure that must deform during deployment is analyzed, to illustrate use of the methods developed     

Axi-symmetric bodies of equal material in contact under torsion or shift

Summary Two axi-symmetric bodies are pressed together, so that their axes of symmetry coincide with the contact normal and the normal force is held constant. A small torque about the contact normal or a small tangential force is applied. For bodies of equal material, the normal and tangential stress states are uncoupled, and can solved separately. The surfaces of the bodies are thought as a superposition of infinitesimal rigid flat-ended punches. Consequently, the normal stress distribution can be calculated as a summation of differential flat punch solutions. A formula results, which is identical with the solution of Green and Collins. After application of a torque an annular sliding area forms at the border of the contact area. For reasons of symmetry, the common displacement of the inner stick area must be a rigid body rotation. Similarly to the normal problem, the solution can be thought as a superposition of rigid punch rotations. The tangential solution can be derived analogically, in form of a superposition of rigid punch displacements. The present method also solves the problem of simultanous normal and torsional or tangential loading with complete adhesion. As an example, Steuermann's problem for polynomial surfaces of the formA _2nr²ⁿis solved. The solutions for constant normal forces can be used as basic functions for loading histories with varying normal and tangential forces.     

含非理想空间棱柱铰的多体系统接触分析

传统的接触分析方法通过物体间的相对运动确定接触位置. 将这种方法用于多体系统中铰内的接触分析时, 无论铰内间隙是否十分微小都必须解除铰的运动学约束, 从而导致求解效率和求解精度方面的诸多弊端. 基于铰约束反力与铰内接触力之间的力系等效关系, 以及铰内可能接触点运动之间内在的运动学关系, 以矩形截面的棱柱铰为例, 提出了一种对空间棱柱铰进行摩擦接触分析的方法, 可在不解除铰的运动学约束的前提下得到铰内接触模式和接触力. 数值算例验证了方法的可行性.      

Development of a planar multibody model of the human knee joint

The aim of this work is to develop a dynamic model for the biological human knee joint. The model is formulated in the framework of multibody systems methodologies, as a system of two bodies, the femur and the tibia. For the purpose of describing the formulation, the relative motion of the tibia with respect to the femur is considered. Due to their higher stiffness compared to that of the articular cartilages, the femur and tibia are considered as rigid bodies. The femur and tibia cartilages are considered to be deformable structures with specific material characteristics. The rotation and gliding motions of the tibia relative to the femur cannot be modeled with any conventional kinematic joint, but rather in terms of the action of the knee ligaments and potential contact between the bones. Based on medical imaging techniques, the femur and tibia profiles in the sagittal plane are extracted and used to define the interface geometric conditions for contact. When a contact is detected, a continuous nonlinear contact force law is applied which calculates the contact forces developed at the interface as a function of the relative indentation between the two bodies. The four basic cruciate and collateral ligaments present in the knee are also taken into account in the proposed knee joint model, which are modeled as nonlinear elastic springs. The forces produced in the ligaments, together with the contact forces, are introduced into the system’s equations of motion as external forces. In addition, an external force is applied on the center of mass of the tibia, in order to actuate the system mimicking a normal gait motion. Finally, numerical results obtained from computational simulations are used to address the assumptions and procedures adopted in this study.     

On the Impact of Elastic Bodies with Adhesive Forces

We analyze the problem of an elastic sphere impacting against another elastic body for the case when adhesive forces act between the bodies. Depending on the parameter describing the (relative) influence of the adhesive forces, the bodies will either separate or continue to be in contact and perform an oscillatory motion after the rebound. The value of the adhesive forces parameter defining separation and capture is calculated. This revised version was published online in July 2006 with corrections to the Cover Date.     

Continuous contact force models for impact analysis in multibody systems

One method for predicting the impact response of a multibody system is based on the assumption that the impacting bodies undergo local deformations and the contact forces are continuous. In a continuous analysis, the integration of the system equations of motion is carried out during the period of contact; therefore, a model for evaluating the contact forces is required. In this paper, two such contact force models are presented, both Hertzian in nature and based upon the direct-central impact of two solid particles.At low impact velocities, the energy dissipation during impact can be represented by material damping. A model is constructed based on the general trend of the Hertz contact law in conjuction with a hysteresis damping function. The unknown parameters are determined in terms of a given coefficient of restitution and the impact velocity. When local plasticity effects are the dominant factor accounting for the dissipation of energy at high impact velocities, a Hertzian contact force model with permanent indentation is constructed. Utilizing energy and momentum considerations, the unknown parameters in the model are again evaluated. The two particle models are generalized to an impact analysis between two bodies of a multibody system.     

On Aerodynamic Forces for Viscous Compressible Flow

The paper is aimed at reviewing and adding some new results to our recent work on a force theory for viscous compressible flows around a finite body. It has been proposed to analyze aerodynamic forces directly in terms of fluid elements of nonzero vorticity and density gradient. Let ρ denote the density, u the velocity, and ω the vorticity. It is demonstrated that for largely separated flows about bluff bodies, there are two major source elements: R _e(x) =−?u ²∇ρ·∇ϕ and V _e(x) =−u×ω·∇ϕ, where ϕ is an acyclic potential, generated by the solid body moving with unit velocity in the negative direction of the force considered. In particular, under mild conditions, the (unique) choice of ϕ enforces that the elements R _e(x) and V _e(x) decay rapidly away from the body. Four kinds of finite body are considered: a circular cylinder, a sphere, a hemi sphere-cylinder, and a delta wing of elliptic section—all in transonic-to-supersonic regimes. From an extensive numerical study carried out for these bodies, it is found that these two elements contribute to 95% or more of the total drag or lift for all the cases under consideration. Moreover, R _e(x) due to density gradient becomes progressively important relative to V _e(x) due to vorticity as the Mach number increases. The present method of force analysis enables effective analysis and assessment of relative importance of aerodynamics forces, contributed from individual flow structures. The analysis could therefore be very much useful in view of the rapid growth in numerical fluid dynamics; detailed (either local or global) flow information is often available. The paper is dedicated to Sir James Lighthill in honor of his great contributions to aeronautics on the occasion of the publication of his collected works. Received 3 January 1997 and accepted 11 April 1997     

Periodic solutions of <Emphasis Type="Italic">n</Emphasis>-dofs autonomous vibro-impact oscillators with one lasting contact phase

In the continuum structural mechanics framework, a unilateral contact condition between two flexible bodies does not generate impulsive contact forces. However, finite-dimensional systems, derived from a finite element semi-discretization in space for instance, and undergoing a unilateral contact condition, require an additional impact law: Unilateral contact occurrences then become impacts of zero duration unless (i) the impact law is purely inelastic, or (ii) the pre-impact velocity is zero. This contribution explores autonomous periodic solutions with one contact phase per period and zero pre-impact velocity [case (ii)], for any n-dof mechanical systems involving linear free-flight dynamics together with a linear unilateral contact constraint. A recent work has shown that such solutions seem to be limits of periodic trajectories with k impacts per period as k increases. Minimal analytic equations governing the existence of such solutions are proposed, and it is proven that, generically, they occur only for discrete values of the period. It is also shown that the graphs of such periodic solutions have two axes of symmetry in time. Results are illustrated on a spring–mass system and on a 4-dof two-dimensional system made of 1D finite elements. Animations of SPPs with up to 30 dofs are provided.     

Soft-impact dynamics of deformable bodies

Systems constituted by impacting beams and rods of non-negligible mass are often encountered in many applications of engineering practice. The impact between two rigid bodies is an intrinsically indeterminate problem due to the arbitrariness of the velocities after the instantaneous impact and implicates an infinite value of the contact force. The arbitrariness of after-impact velocities is solved by releasing the impenetrability condition as an internal constraint of the bodies and by allowing for elastic deformations at contact during an impact of finite duration. In this paper, the latter goal is achieved by interposing a concentrate spring between a beam and a rod at their contact point, simulating the deformability of impacting bodies at the interaction zones. A reliable and convenient method for determining impact forces is also presented. An example of engineering interest is carried out: a flexible beam that impacts on an axially deformable strut. The solution of motion under a harmonic excitation of the beam built-in base is found in terms of transverse and axial displacements of the beam and rod, respectively, by superimposition of a finite number of modal contributions. Numerical investigations are performed in order to examine the influence of the rigidity of the contact spring and of the ratio between the first natural frequencies of the beam and the rod, respectively, on the system response, namely impact velocity, maximum displacement, spring stretching and contact force. Impact velocity diagrams, nonlinear resonance curves and phase portraits are presented to determine regions of periodic motion with impacts and the appearance of chaotic solutions, and parameter ranges where the functionality of the non-structural element is at risk.     

Elastic contact between a cylindrical surface and a flat surface - A non-Hertzian model of multi-asperity contact

Contact between curved rough bodies is an important engineering problem. The paper addresses the problem in its simplest form where a smooth rigid cylinder presses down an elastic half space bounded by a plane of uniformly spaced cylindrical asperities. Keeping the separation between the bodies unchanged the problem is inverted and solved using the method of complex variables. As the asperities deform as well as move as rigid bodies, contact lengths and positions develop non-symmetrically with respect to the initial axes of symmetry of the asperities. The resulting local contact pressures are non-Hertzian and the normal load for a given contact area is greater than that estimated using a priori Hertzian pressure profiles.     

多体系统中深沟球轴承旋转铰内接触分析

将传统方法用于铰内接触分析时,需要通过物体的相对运动细节判断接触位置. 但实际机械系统中的铰,其内部缝隙非常小以至于几乎与计算误差的数量级相同. 在这种情况下,传统方法中的数值病态非常严重,难以得到合理的结果. 结合深沟球轴承旋转铰的构造细节,分析了钢球与轨道接触时运动学描述参数之间的关系、钢球在有效承载时的受力特征以及铰内接触形式的特点. 在此基础上,提出了一种确定多体系统中深沟球轴承旋转铰内接触力和接触位置的方法. 所提方法不需要解除铰的运动学约束,也不必求解非线性互补方程,因此在数值稳定性和计算效率方面具有优势. 数值算例验证了该方法的可行性.     

Postbuckling Analysis of Nonconservative Elastic Systems

Abstract

Previous work on the postbuckling and imperfection-sensitivity of elastic structures has concentrated on conservative systems. The results of Koiterand others have led to a general theory of nonlinear stability behavior for these systems. The theory must be modified when nonconservative forces are present, and this is the aim of the present paper.

Discrete, nonconservative, elastic systems which exhibit static (divergence) instability are considered. The nonlinear behavior in the neighborhood of a critical point is analyzed by means of a perturbation procedure. When the critical point is simple, the results are similar to those for conservative systems. When a coincident critical point exists, however, different types of behavior occur. In many cases there is no bifurcation at all, with only the fundamental (trivial) equilibrium path passing through the critical point. Imperfection-sensitivity is more severe than for the typical bifurcation points and can even occur when the perfect system has no bifurcation. The results are illustrated with the use of a nonlinear double pendulum model subjected to a partial follower load.