Multibody dynamics modeling of electromagnetic direct-drive vehicle robot driver. (15th September 2017)

• Record Type: Journal Article
• Authors: Chen, Gang; Zhang, Weigong; Yu, Bing
• Is Part Of: International journal of advanced robotic systems. Volume 14:Number 5(2017:Sep./Oct.)
• Publication Date: 2017-09-15
• Subjects: Vehicle -- robot driver -- multibody dynamics -- rigid body -- flexible body; Robotics -- Periodicals; Robotics; Periodicals; 629.892
• DOI: 10.1177/1729881417731896
• Languages: English
• ISSNs: 1729-8806

Abstract

Collaborative dynamics modeling of flexible multibody and rigid multibody for an electromagnetic direct-drive vehicle robot driver is proposed in the article. First, spatial dynamic equations of the direct-drive vehicle robot driver are obtained based on multibody system dynamics. Then, the shift manipulator dynamics model and the mechanical leg dynamics model are established on the basis of the multibody dynamics equations. After establishing a rigid multibody dynamics model and conducting finite element mesh and finite element discrete processing, a flexible multibody dynamics modeling of the electromagnetic direct-drive vehicle robot driver is established. The comparison of the simulation results between rigid and flexible multibody is performed. Simulation and experimental results show the effectiveness of the presented model of the electromagnetic direct-drive vehicle robot driver.