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Rigid-flexible hybrid modeling and dynamic simulation of three-coordinate heavy-load transfer vehicle

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Abstract

The spent fuel in the nuclear radiation environment is generally transported by transfer vehicles, which are required to be able to run smoothly under high speed and high acceleration. In this paper, dynamic analysis and simulation of a new type of heavy-load transfer vehicle were carried out. Firstly, the design structure of the transfer vehicle was presented, and the theoretical calculation methods for the forces on the V-shaped rollers and the dynamic deflection of the column were proposed. Then the working space of the vehicle was analyzed. And the dynamic model of rigid bodies and flexible bodies were established according to the Lagrange equations. Moreover, the velocity and acceleration of main components and the contact forces of the V-shaped rollers were analyzed by using ADAMS, and the optimal control strategy was proposed. Finally, the motors output torque of the vehicle was tested to validate the accuracy of the theoretical analysis and simulation. The experimental results are in good agreement with the theoretical and simulation results, and the dynamic performance of the transfer vehicle meets the design requirements.

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Abbreviations

a y :

Acceleration of fork mechanism when lifting

a z :

Acceleration of fork mechanism when stretching

m i :

The mass of each part

W :

The total gravitational force

z i :

The z-axis coordinate of the center of mass of each part

y i :

The y-axis coordinate of the center of mass of each part

W a :

The total gravitational force when lifting

W b :

The total gravitational force when stretching

z w :

The abscissa of center of mass

z wa :

The abscissa of center of mass when lifting

z wb :

The abscissa of center of mass when stretching

F t1 :

Force on lower surface of inside rollers when lifting

F n1 :

Force on upper surface of inside rollers when lifting

F n2 :

Force on upper surface of outside rollers when lifting

P n1 :

Force on upper surface of inside rollers when stretching

P t2 :

Force on lower surface of outside rollers when stretching

P n 2 :

Force on upper surface of outside rollers when stretching

d :

The length of each force arm

F a1 :

The resultant force on inside rollers when lifting

F a2 :

The resultant force on outside rollers when lifting

F b1 :

The resultant force on inside rollers when stretching

F b2 :

The resultant force on outside rollers when stretching

M :

Bending moment of the column

r :

Distance between the center of column and Y-axis

h 0 :

Height difference between column and rollers

f :

Deflection at the top of the column

E :

Elasticity modulus

I :

Moment of inertia of lateral section of the column

h 1 :

Height of the column

h max :

Maximum height which fork mechanism can reach

W i :

Generalized coordinate of each mechanism

W L i :

The lower limit of motion range of each mechanism

W U i :

The upper limit of motion range of each mechanism

λ :

The angular coordinate of Cardan angle

R :

Position vector of the rigid body

q :

Generalized coordinates of the rigid body

B :

Transformation matrix

ω :

Angular velocity in global coordinate system

T :

Kinetic energy

r P :

Position vector in the global coordinate system

M :

Mass matrix of the rigid system

J :

Rotational inertia matrix

µ :

Lagrange multiplier array

Q :

Generalized force matrix

ϕ :

Constraint equations

t :

The time

ξ :

Generalized coordinates of the flexible body

φ :

Euler angle coordinates

p :

Modal coordinates

p m :

The amplitude of the first m order modal

M(ξ) :

Mass matrix of the flexible system

W :

Potential energy

W g :

Gravitational potential energy

W k :

Elastic potential energy

K :

Modal stiffness matrix

ρ :

The density of this part

L :

Lagrange term

Γ :

Energy loss function

D :

Modal damping matrix

ψ :

External loads

λ :

Lagrange multiplier

f g :

Generalized gravity

N :

External loads

T ox :

Output torque of X-axis motor

T x :

Torque acting on the gear

i 1 :

Transmission ratio of worm gear reducer

F x :

Driving force of X-axis

η 1 :

Transmission efficiency of gear and rack

η 2 :

Transmission efficiency of worm gear and worm

D :

Diameter of gear dividing circle

T oy :

Output torque of Y-axis motor

T y :

Torque acting on screw

F y :

Driving force of Y-axis

i 2 :

Transmission ratio of worm gear reducer

i 3 :

Transmission ratio of commutator

T 0 :

Torque loss of commutator

η 3 :

Driving efficiency of screw

η 4 :

Driving efficiency of gear and worm

S :

Lead of screw

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Acknowledgments

This work was supported by Transfer Vehicle Project by the government of Hangzhou, China.

Author information

Authors and Affiliations

  1. School of Mechanical Engineering, Zhejiang University, Hangzhou, 310027, China

    Junxia Jiang, Haipeng Liao, Yuxiao He & Xinyuan Zhang

Authors
  1. Junxia Jiang
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  2. Haipeng Liao
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  3. Yuxiao He
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  4. Xinyuan Zhang
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Corresponding author

Correspondence to Yuxiao He.

Additional information

Junxia Jiang was born in 1968. He is currently a Researcher, Doctoral Supervisor in Zhejiang University. He graduated from Zhejiang University with a Master’s degree, majored in Mechanical Manufacturing and Automation. His research interests include automatic equipment, robot, structural innovation design of intelligent equipment.

Haipeng Liao is a M.D. student in Zhejiang University and received his Bachelor’s degree from School of Mechatronics Engineering at Nanchang University in 2018. His research interests include automatic equipment and structural design optimization.

Yuxiao He is a Ph.D. student in Zhejiang University and received his Bachelor’s degree from College of Mechanical and Electrical Engineering at Nanjing University of Aeronautics and Astronautics in 2017. His research interests include automatic equipment, structural design optimization and automated fiber placement.

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Jiang, J., Liao, H., He, Y. et al. Rigid-flexible hybrid modeling and dynamic simulation of three-coordinate heavy-load transfer vehicle. J Mech Sci Technol 36, 285–296 (2022). https://doi.org/10.1007/s12206-021-1226-4

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  • DOI: https://doi.org/10.1007/s12206-021-1226-4

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