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Rigid Body Dynamics

14.0 Deep Dive

Jean-Daniel Beley
September 2011
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2011 ANSYS, Inc.

November 22,
2011

Agenda
Advanced user control
using command snippets

System level analysis using


Simplorer-RBD co-simulation

2011 ANSYS, Inc.

November 22,
2011

Advanced User Control


Using Command Snippets
Example: Torque Limiter

2011 ANSYS, Inc.

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.
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2011 ANSYS, Inc.

November 22,
2011

Example: Torque Limiter


A torque limiter is an automatic
device that protects mechanical
equipment, or its work, from damage
by mechanical overload
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

Grounded on one side


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2011 ANSYS, Inc.

November 22,
2011

Revolute joint for the Torque Limiter

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-triggered) load steps
Time of uncoupling is not known a priori under complex
loading conditions
Command snippets can help you defining more general
conditions!

2011 ANSYS, Inc.

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

2011 ANSYS, Inc.

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

2011 ANSYS, Inc.

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

Note that the command snippet is not unit dependent.


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2011 ANSYS, Inc.

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.

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2011 ANSYS, Inc.

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,)
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2011 ANSYS, Inc.

November 22,
2011

System Level Analysis Using


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

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2011 ANSYS, Inc.

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
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2011 ANSYS, Inc.

November 22,
2011

System level analysis using RBD


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

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2011 ANSYS, Inc.

November 22,
2011

Simplorer Model

Hydraulic command of a landing gear


Mechanical Side
RBD Model and Simplorer Model are

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link via PINS


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.

2011 ANSYS, Inc.

November 22,
2011

Hydraulic command of a landing gear


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

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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

2011 ANSYS, Inc.

November 22,
2011

Hydraulic command of a landing gear


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

Force in the cylinder

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2011 ANSYS, Inc.

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

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2011 ANSYS, Inc.

November 22,
2011

Simplorer Model

Sequencing of a 5 axis robot from the


Simplorer Window - Mechanical Side
RBD Model and Simplorer Model are

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link via PINS


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)

2011 ANSYS, Inc.

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
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2011 ANSYS, Inc.

November 22,
2011

Other New 14.0 Features in RBD

Contact speed and robustness greatly


improved

Support of Constraint Equations objects

Extension of stops to spherical joints


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2011 ANSYS, Inc.

November 22,
2011