Presented by

Fuat Koro
10/01/02

Prepared by Fuat Koro Energy & Chassis Systems

 Multibody Dynamics

STATICS
KINETICS
MECHANICS
DYNAMICS
KINEMATICS

Rigid Multibody Dynamics Flexible Multibody Dynamics

u Bodies are assumed to be
incapable of deforming in any
manner
u Relative displacements are
assumed not to affect the system
response
u Study of force and motion take
place simultaneously
u Deals with non-linear structures
whose segments undergo large
motion coupled with deformations

Prepared by Fuat Koro Energy & Chassis Systems

 Inertia Relief Analysis

u D’Alembert’s Principle:
– Vector sum of all external forces and inertia forces acting on a rigid body is zero:

ΣF-MaG =0
– Vector sum of all external moments and inertia torques acting on a rigid body is
zero:

ΣMG-Ia = 0
u Analysis Steps:
– Select a component
– Identify worst case loading from motion simulation
– Extract forces from a rigid multibody dynamic analysis. (Abaqus, ADAMS,
DADS)
– Assign loads in Abaqus (inertia loads are in the form of gravity and rotational
acceleration loads)
– Perform component-level static finite element analysis

Prepared by Fuat Koro Energy & Chassis Systems

 Inertia Relief Analysis

Prepared by Fuat Koro Energy & Chassis Systems

 Time History of Loads

Prepared by Fuat Koro Energy & Chassis Systems

 Force Balance
Forces in x direction

2000

1000

spring.X
joint.X
0
rff.X
1.50E-02 1.70E-02 1.90E-02 2.10E-02 2.30E-02 2.50E-02 2.70E-02 2.90E-02
roll.X
body.X
sum.X
-1000

-2000

-3000
time

Prepared by Fuat Koro Energy & Chassis Systems

 1- Cylinder head
Variable Valve Actuation Mechanism
2 - Output cam
3 - Coupler
4 - Rocker
5 - Double torsion spring
6 - Camshaft
7 - Rocker roller
8 - Cam
9 - Control shaft arm
10 - Control shaft
11 - Slide Pin
12 - Variable-Length Ground Link

Prepared by Fuat Koro Energy & Chassis Systems

 Valve Lift Curves
10

6
Valve Lift (mm)

0
80 100 120 140 160 180 200 220 240
Camshaft Rotation (degrees)

Prepared by Fuat Koro Energy & Chassis Systems

 Spring Dynamics

Prepared by Fuat Koro Energy & Chassis Systems

 Spring Dynamics

Prepared by Fuat Koro Energy & Chassis Systems

 Spring Design
4
2.5 .10
25000

4
Spring Reaction Moment at
2 .10

3500 rpm
4
1.5 .10

rm3500

1 .10
4
•Raw output
(Abaqus/Explicit)
5000

3
0
5.498 5.5 5.502 5.504 5.506 5.508 5.51 5.512 5.514 5.516 5.518 5.52 5.522
5.54
Dynamic at 3500
t3500
rpm vs Quasistatic 5.523
2.5
×10 .10
4

4
2 .10

1.5 .10
4

•Filtered
rm3quasi3500

1 .10
4
•Quasistatic
(Abaqus/Standard)
5000

3
×10
5.5 5.502 5.504 5.506 5.508 5.51 5.512 5.514 5.516 5.518 5.52 5.522
5.5 t3500 , tquasi3500 5.523

Prepared by Fuat Koro Energy & Chassis Systems

 Spring Design
4
2.5 .10
4
10

Spring Reaction Moment at

4
2 .10

1.5 .10
4
7000 rpm
•Raw Output
react

4
1 .10

(Abaqus/Explicit)
5000

0 0
5.748 5.75 5.752 5.754 5.756 5.758 5.76 5.762 5.764
5.75 time 5.763
4
2.5 4.10
×10

4
2 .10

1.5 .10
bandpass
4
• Filtered
static
1 .10
4
• Smoothed

5000
• Quasistatic
(Abaqus
5.75
5.75 5.752 5.754 5.756 5.758 5.76 5.762
Standard)
5.75 time , time , time1 5.763

Prepared by Fuat Koro Energy & Chassis Systems

 Analysis of Flexible Multibody Dynamics

u Elasto-Dynamics
– Deformation is considered uncoupled from the rigid body motion
u Component Mode Synthesis
– Dynamic substructuring using ABAQUS/ADAMS
– Linear finite element theory
» No nonlinearities due to geometry, materials and boundary conditions
– Moving reference frame approach
– Stress-stiffening effects can be incorporated if modes are extracted after a
nonlinear analysis
u Explicit dynamic finite element formulation
– ABAQUS/Explicit

Prepared by Fuat Koro Energy & Chassis Systems

 Felxible Multibody Dynamics

u The applications of flexible multibody dynamics systems can be

found in various multibody systems with connected rigid and
flexible segments:
– aircraft wings
– lightweight spatial structures
– biomechanical systems
– high-speed mechanisms

Prepared by Fuat Koro Energy & Chassis Systems

 ABAQUS Approach

u Modeling objective dictates the level of refinement

– idealized joints vs. contact modeling
– deformable bodies vs. rigid bodies
u Kinematic constraints can be modeled using 2-node connector
elements
– Connection types include basic and assembled kinematic pairs.
» BEAM,WELD,HINGE,UJOINT,CVJOINT,TRANSLATOR,CYLINDRICAL,PLANAR
» LINK,JOIN,SLOT,SLIDE-PLANE,CARTESIAN,RADIAL-THRUST,AXIAL
» ALIGN,REVOLUTE,UNIVERSAL,CARDAN,EULER,CONSTANT VELOCITY,
ROTATION,FLEXION-TORSION

u Any component in the assembly can be modeled as rigid or

deformable
– Helps in understanding the impact of component stiffness in system response
u Mass and inertia properties for rigid bodies can be user defined
or they can be automatically computed by Abaqus if rigid
components are represented using finite elements

Prepared by Fuat Koro Energy & Chassis Systems

 Variable Valve Actuation Mechanism

Prepared by Fuat Koro Energy & Chassis Systems

 Flexible Multibody Animation

Prepared by Fuat Koro Energy & Chassis Systems

 Mobility and Kinematic Constraints

u The number of degrees of freedom, also called the mobility of

the device needs to be known to prevent overconstraints.
– Kutzbach criterion: m=3(n-1)-2j1-j2 (planar)
m=6(n-1)-5j1-4j2-3j3-2j4-j5 (spatial)

– Planar 4-bar linkage example:

Cylindrical
Join

1 DOF
Hinge
Hinge

Prepared by Fuat Koro Energy & Chassis Systems

 Resolving Overconstraints

Prepared by Fuat Koro Energy & Chassis Systems

 Dynamic Response - Future Work

u Seating velocity
– impact between valve and seat at valve closure
u Valve bounce, valve float, valve lift
u Dynamic Stresses
– Stress amplification, Fatigue life impact
u Cam profile synthesis
u Structural optimization
– System natural frequency
u Maximum speed - redline rpm

Prepared by Fuat Koro Energy & Chassis Systems