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International Journal for Multiscale Computational Engineering
Fator do impacto: 1.016 FI de cinco anos: 1.194 SJR: 0.554 SNIP: 0.68 CiteScore™: 1.18

ISSN Imprimir: 1543-1649
ISSN On-line: 1940-4352

International Journal for Multiscale Computational Engineering

DOI: 10.1615/IntJMultCompEng.v1.i23.90
24 pages

Treatment of Constraints in Complex Multibody Systems. Part II: Application to Tracked Vehicles

Taira Ozaki
Construction Equipment Technical Center 1, Development Division, Komatsu Ltd., Osaka, Japan
Ahmed A. Shabana
Department of Mechanical Engineering, University of Illinois at Chicago, Chicago, Illinois, USA


In Part I of this two-part article, different methods for modeling the joints in constrained multibody dynamics were presented. These methods led to different forms of the dynamic equations and required the use of different solution procedures. It was demonstrated that the solutions obtained using these methods were in a good agreement when simple systems were considered. In Part II, the performance of different formulations discussed in Part I is evaluated using a heavily constrained mechanical system that is subjected to impulsive forces. To this end, the tracked vehicle model described in Part I is used. Crucial to the success of modeling such vehicles is the development of accurate models for joint constraints and the impulsive contact forces that result from the interaction between the track chains and the vehicle components as well as the interaction between these chains and the ground. The nonlinear contact force models used in the numerical study presented in this investigation are developed, and the formulations of the generalized forces associated with the generalized coordinates used in each of the formulations presented in Part I are discussed. The numerical algorithms and implementation of these algorithms as well as evaluation of the performance of different methods in the analysis of detailed tracked vehicle models are discussed.

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