Sie sind auf Seite 1von 22

# Rigid Body Dynamics

## 14.0 Deep Dive

Jean-Daniel Beley
September 2011
1

## 2011 ANSYS, Inc.

November 22,
2011

Agenda
using command snippets

## System level analysis using

Simplorer-RBD co-simulation

## 2011 ANSYS, Inc.

November 22,
2011

Using Command Snippets
Example: Torque Limiter

November 22,
2011

Motivation

## RBD Command snippets based on the

Python language allow representation
of complex relationships between
joints, help create new load conditions
and provide results export.
4

November 22,
2011

## Example: Torque Limiter

A torque limiter is an automatic
device that protects mechanical
equipment, or its work, from damage
It couples motion as long as
motion is less than the threshold
It uncouples as soon as the
threshold has been reached

## 2011 ANSYS, Inc.

November 22,
2011

Simulation Model
Increasing torque applied by varying
the weight location

6

November 22,
2011

## Overcoming Limitations with Snippets

Coupling can be included using a zero velocity joint condition
on the revolute joint
BUT joint conditions can only be activated / deactivated by
Time of uncoupling is not known a priori under complex
conditions!

November 22,
2011

## Example: Torque Limiter model

First we need to instrument the model, to measure the torque
in the limiter.
This is done in a command snippet on the joint node in the tree

November 22,
2011

## Example: Torque Limiter model

Model instrumentation

## Measures are created.

These measures can be seen as Sensors capable of capturing
some values on the model over time
These sensors need to be added to the model

## Here, we extract the Euclidean norm (norm 2)

of the torsional torque on the ground side

November 22,
2011

## Example: Torque Limiter model

Coupling condition
We create a zero-velocity condition (driver) on the revolute joint, active
only if the torque sensor delivers a value smaller than the limit

10

November 22,
2011

## Example: Torque Limiter model

Uncoupled state
Similarly, a constant torque is applied in the revolute joint, when the
torque limiter is uncoupled.

11

November 22,
2011

## Example: Torque Limiter model

Result

Python commands could also be used here to extract / export these results
to other applications (Excel post processing, fatigue analysis,)
12

November 22,
2011

## System Level Analysis Using

Simplorer-RBD Co-simulation
Examples: Landing Gear & Robotic Arm

13

November 22,
2011

Motivation

## Include realistic control / command with

a rigid dynamic system
Using Simplorers large library of hydraulic, electric,
electronic components

## Include realistic mechanical models as

part of a system level simulation
Rigid dynamics is highly non-linear. No reduced order
models can be created
Leads to higher fidelity models and lets you optimize
the overall system
14

November 22,
2011

## System level analysis using RBD

Simplorer co-simulation
Example 1: Hydraulic command of a landing gear
Rigid Dynamics Model

15

November 22,
2011

Simplorer Model

## Hydraulic command of a landing gear

Mechanical Side
RBD Model and Simplorer Model are

16

These PINS are defined directly from
the Mechanical Window
They are attached to joint degrees of
freedom
Pins are input (Simplorer will feed
the value to RBD) or output (RBD
will feed the value to Simplorer
Typically, the same joint will have
one input pin and one output pin
Here, the hydraulic cylinder
translational joint hold an input
displacement pin, and an output
force pin.

November 22,
2011

## Hydraulic command of a landing gear

Simplorer Side
RBD model appears as a sub-circuit
PINS are the connecting points

17

## between the RBD model and the rest

of the circuit
Here the model is made of
Hydraulic pump and by-pass
Three way valve
ON/OFF Command
Cylinder, with end stop sensor
Acting on the ON/OFF and the Valve,
a full simulation can be carried

November 22,
2011

## Hydraulic command of a landing gear

Results
Results are available both on the
Simplorer side and in the
Mechanical window

18

November 22,
2011

## System level analysis using RBD

Simplorer co-simulation
Example 2: Sequencing of a 5 axis robot from the Simplorer Window
Rigid Dynamics Model

19

November 22,
2011

Simplorer Model

## Sequencing of a 5 axis robot from the

Simplorer Window - Mechanical Side
RBD Model and Simplorer Model are

20

These PINS are defined directly from
the Mechanical Window
They are attached to joint degrees of
freedom
Pins are input (Simplorer will feed
the value to RBD) or output (RBD
will feed the value to Simplorer
Typically, the same joint will have
one input pin and one output pin
Here, each axis has an input rotation
pin and an output rotation pin (for
the feedback loop)

November 22,
2011

## Sequencing of a 5 axis robot from the

Simplorer Window - Results
Pick and Drop cycled defined in Simplorer

## Results are available both on the

Simplorer side and in the
Mechanical window

Rotation of Axis 3
21

November 22,
2011

improved

22

November 22,
2011