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Multibody systems simulation software 101 REV REV SPH M REV REV Fig. 3.21 Overconstrained loop in a system model CYL SPH M REV REV Fig. 3.22 Zero degree of freedom four-bar linkage model The addition of an extra body attached to the ground by a spherical joint appears to add the extra 3 degrees of freedom needed to at least obtain a zero degree of freedom model that would be used for a kinematic analysis as tabulated below: Parts 6 (5 1) 24 Revolutes 5 4 20 Spherical 3 1 3 Motion 1 1 1 Total DOF 0 Although it appears the problem has been solved there are still redundant constraints in the system. In balancing the degrees of freedom in the model it is necessary that not only is the overall system not overconstrained but also any individual loops within the model. A possible solution in this case is to select the joints shown in Figure 3.22. For the joints selected now the result is a zero degree of freedom model that would be used for a kinematic analysis. The degree of freedom balance is tabulated below: Parts 6 (4 1) 18 Revolutes 5 2 10 Spherical 3 1 3 Cylindrical 4 1 4 Motion 1 1 1 Total DOF 0
102 Mutibody Systems Approach to Vehicle Dynamics z 02 x y I Line-of-sight force element x y z J 03 Fig. 3.23 Line-of-sight force element The cylindrical joint is used to prevent an unwanted degree of freedom that would result in the central link spinning about its own axis. 3.2.9 Force elements There are two fundamental types of force element that may be defined in a multibody systems model. The first of these are force elements that can be considered internal to the system model and involve the effects of compliance between bodies. Examples of these include springs, dampers, rubber bushes and roll bars. As such these forces involve a connection between two bodies and due to the principle of Newton’s third law are often referred to as action–reaction forces. For the translational class of force elements used to define springs and dampers the force will act along the line between two markers that define the ends of the element and as such this form of definition is referred to as the line-of-sight method. The second type of force is one that is external and applied to the model. Examples of these include gravitational forces, aerodynamic forces and any other external force applied to the model where the reaction on another body is not required. As such they may be referred to as action-only forces. The forces generated by a tyre model and input through the wheel centres into a full vehicle model can also be considered to be this type of force. These forces may be translational or rotational and as they require the definition of a magnitude, line of action and sense the method of definition is referred to as the component method. The definition of line-of-sight forces is illustrated in Figure 3.23 which shows a force acting along the line of sight between two points, an I and a J marker, on two separate parts. The forces acting on the I and the J marker are equal and opposite. As the line of the force is defined entirely by the location of the I and the J marker the orientation of these is not relevant when defining the force. The component method applies to translational action-only forces where the direction and sense of the force must be defined and to rotational forces where the axis about which the torque acts is required. In MSC.ADAMS it is the z-axis of the J marker that is used to define the direction and sense of a translational action-only force. The force acts on the I marker as shown in Figure 3.24 and there is no reaction on the J marker.
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Multibody Systems Approach to Vehic
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Multibody Systems Approach to Vehic
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Contents Preface Acknowledgements N
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Contents vii 4.10.1 Problem definit
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Contents ix 8.2.1 Active suspension
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Preface This book is intended to br
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Preface xiii vehicle design process
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Acknowledgements Mike Blundell In d
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Nomenclature xvii {z I } 1 Unit vec
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Nomenclature xix O n Frame for part
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Nomenclature xxi p Magnitude of re
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1 Introduction The most cost-effect
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Introduction 3 subsequent ‘classi
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Introduction 5 Fig. 1.4 Linearity:
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Introduction 7 While apparently a s
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Introduction 9 3. The body yaws (ro
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Introduction 11 Aspiration Definiti
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Introduction 13 Decomposition: Synt
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Introduction 15 The best multibody
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Introduction 17 shows good correlat
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Introduction 19 generated in numeri
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Introduction 21 1.9 Benchmarking ex
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2 Kinematics and dynamics of rigid
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Kinematics and dynamics of rigid bo
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Modelling and analysis of suspensio
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Tyre characteristics and modelling
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Modelling and assembly of the full
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7 Simulation output and interpretat
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Simulation output and interpretatio
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8 Active systems 8.1 Introduction M
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Active systems 443 mechanical actua
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Active systems 445 Table 8.1 MSC.AD
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Active systems 447 Body acceleratio
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Active systems 449 impressions of t
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Active systems 451 For this reason,
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Appendix A: Vehicle model system sc
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Appendix B: Fortran tyre model subr
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Appendix C: Glossary of terms Agili
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Appendix C: Glossary of terms 489 a
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Appendix C: Glossary of terms 491 t
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Appendix C: Glossary of terms 493 e
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Appendix C: Glossary of terms 495 m
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Appendix C: Glossary of terms 497 h
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Appendix C: Glossary of terms 499 t
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Appendix C: Glossary of terms 501 s
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References 503 Blundell, M.V. The m
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References 505 Hudi, J. AMIGO - A m
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References 507 Palmer, D. Course no
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References 509 European ADAMS News
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Index Abuse loads, 148 3 g bump, 14
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Index 513 Elk Test, 1 El-Nasher, 29
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Index 515 generalised translational
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Index 517 steer axis inclination, 1
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