Challenge with Simulating Loader Mechanism with Closed Kinematic Loop
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I'm currently working on simulating a loader mechanism that includes a closed kinematic loop in its arm, actuated by two jacks. From my research, I understand that conducting a full multibody simulation in systems with a closed kinematic loop while all joints are actuated is impossible. Therefore, one of the actuators must be converted to an unactuated joint (Here is the Link for reference).
To address this, I left the right jack of the loader unactuated in my simulation and forced the left side to stay in a specific position, effectively conducting a static analysis (inverse dynamic) and recording the calculated forces on other joints, such as those between the chassis and the arm. Something like pictue below:
Here is my challenge:
- When simulating the arm with only one active jack, the forces generated on the unactuated side of the loader are not accurate because the unactuated jack does not apply any force to the mechanism, which it does in reality. Am I correct in this understanding?
- If so, how do others typically address this issue in their simulations?
Any insights or suggestions on how to properly simulate this mechanism would be greatly appreciated!
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Yifeng Tang
il 15 Ago 2024
I wonder how you "... calculate the forces on the jacks" right now. When you provide a motion (position input), you can turn on the sensing port for the actuator force in the prismatic joint and find out how big the force is at any given moment. If you keep the motion constant, you'll get the static force.
If all the joints are "planar", meaning prismatic, revolute, etc., it's indeed not necessary to actuate both prismatic joint. One is sufficient to support the whole mechanism. That also means the force needed to actuate one should be exactly twice of what it takes to actuate both. You can try prescribe position to one or both joints and see what values you get from the joint force sensing port.
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Yifeng Tang
il 20 Ago 2024
Hi @Medalan
Thanks for the clarfication on your question. Let's see if this idea helps.
I created two simple models to demonstrate the idea. Both models are pushing a block upwards using two prismatic joint:
In "example_actuate_one.slx", one of the joints is actuated with a motion signal. The other one kept at zero force and automatic motion. One of the sensed actuator force is zero and the other at whatever force needed to move the masses.
Then in "example_actuate_both.slx", one joint is still actuated with a motion, and the other one is actuated with a force. The force is taken from the sensed actuator force from the first joint with a PS transfer function (delay). The resulting forces are very close to each other, except for the initial transient, and the values are about half of the original one when actuating just one joint.
Maybe a similar setup can help you apply the right forces and find out the constraint forces at other joints?
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