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http://dx.doi.org/10.5574/KSOE.2011.25.6.116

Development of Realtime Simulator for Multibody Dynamics Analysis of Wheeled Vehicle on Soft Soil  

Hong, Sup (Ocean Development System Laboratory, KORDI)
Kim, Hyung-Woo (Ocean Development System Laboratory, KORDI)
Cho, Yun-Sung (R&D Institute, VirtuallMotion Inc.)
Cho, Hui-Je (R&D Institute, VirtuallMotion Inc.)
Jung, Ji-Hyun (Mechanical Engineering Institute, Hanyang University)
Bae, Dae-Sung (Mechanical Engineering Institute, Hanyang University)
Publication Information
Journal of Ocean Engineering and Technology / v.25, no.6, 2011 , pp. 116-122 More about this Journal
Abstract
A realtime simulator using an explicit integration method is introduced to improve the solving performance for the dynamic analysis of a wheeled vehicle. Because a full vehicle system has many parts, the development of a numerical technique for multiple d.o.f. and ground contacts has been required to achieve a realtime dynamics analysis. This study proposes an efficient realtime solving technique that considers the wheeled vehicle dynamics behavior with full degrees of freedom and wheel contact with soft ground such as sand or undersea ground. A combat vehicle was developed to verify this method, and its dynamics results are compared with commercial programs using implicit integration methods. The combat vehicle consists of a chassis, double wishbone type front and rear suspension, and drive train. Some cases of vehicle dynamics analysis are carried out to verify the realtime ratio.
Keywords
Multi-body dynamics analysis; Soft soil; Realtime simulator; Explicit integrator; Relative coordinate;
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