Collaborative Research: Computational Strategies for Resolving Schallamach Waves in Flexible Multibody Dynamics Simulations

协作研究：解决柔性多体动力学仿真中的 Schallamach 波的计算策略

• 批准号: 1562129
• 负责人: Michael Leamy
• 金额: $ 27.79万
• 依托单位: Georgia Tech Research Corporation
• 依托单位国家: 美国
• 项目类别: Standard Grant
• 财政年份: 2016
• 资助国家: 美国
• 起止时间: 2016-08-01 至 2019-12-31
• 项目状态: 已结题
• 来源: https://www.nsf.gov/awardsearch/showAward?AWD_ID=1562129&HistoricalAwards=false
• 关键词: Collaborative; Research; Computational; Strategies; Resolving

This research project addresses the need for enhanced modeling and simulation of flexible multibody dynamics (FMD) that can accurately capture friction-induced behavior, including stick-slip motion and Schallamach detachment waves. Such system-level frictionally excited vibrations can greatly degrade efficiency and lifetime, and may be especially significant where compliant materials are in frictional contact with relatively rigid bodies, as in soft robots, engineered biological systems, and other emerging engineering areas. In addition to modeling and simulation, this research will apply the enhanced FMD formulations -- together with complementary experiments -- to study biomimetic surface patterning for influencing and controlling undesired frictionally induced behavior. The FMD simulation tools arising from this project will reduce the need for expensive and time-consuming design prototypes in important US industries, including automotive, manufacturing equipment, and robotics. The project includes outreach activities to increase participation of underrepresented groups in engineering through K-12 internship and training opportunities in the investigators' labs.The primary research objective is to explore the applicability and enhancement of flexible multi-body dynamics simulation tools for analyzing Schallamach waves, and related stick-slip contact dynamics. Resolving such frictional behavior will be accomplished using new and efficient contact formulations, together with efficient implementations and solution procedures. Detailed experiments will test the multi-body dynamics predictions and suggest directions for further refinements. In later stages of the research, both computation and experiments will be exercised to demonstrate new capabilities for exploring design changes, such as various micro- and macro-scale patterns, that can regularize sliding and limit detrimental stick-slip and vibration behavior. Successful completion of the research effort will greatly increase our ability to design and tailor multi-body systems incorporating soft elements while significantly extending the reach of flexible multi-body dynamics simulation to new and important research areas.

该研究项目满足了增强柔性多体动力学 (FMD) 建模和仿真的需求，能够准确捕获摩擦引起的行为，包括粘滑运动和 Schallamach 脱离波。这种系统级摩擦激发振动会极大地降低效率和寿命，并且在柔性材料与相对刚性的物体摩擦接触的情况下尤其严重，例如在软机器人、工程生物系统和其他新兴工程领域中。除了建模和模拟之外，这项研究还将应用增强的 FMD 公式以及补充实验来研究仿生表面图案，以影响和控制不良的摩擦引起的行为。该项目产生的 FMD 仿真工具将减少美国重要行业（包括汽车、制造设备和机器人）对昂贵且耗时的设计原型的需求。该项目包括外展活动，通过研究人员实验室的 K-12 实习和培训机会，增加代表性不足的群体对工程的参与。主要研究目标是探索用于分析 Schallamach 波和相关粘滑接触动力学的灵活多体动力学仿真工具的适用性和增强。解决此类摩擦行为将通过使用新的高效接触公式以及高效的实施和解决程序来完成。详细的实验将测试多体动力学预测并提出进一步改进的方向。在研究的后期阶段，将通过计算和实验来展示探索设计变更的新能力，例如各种微观和宏观尺度模式，这些模式可以规范滑动并限制有害的粘滑和振动行为。研究工作的成功完成将大大提高我们设计和定制包含软元件的多体系统的能力，同时将灵活的多体动力学仿真的范围显着扩展到新的重要研究领域。