A tethered system, which is a multibody system in which multiple rigid bodies are connected via a flexible tether, is currently used for space and deep-sea exploration. In order to perform accurate work with such tethered systems, the ability to comprehend tether dynamics behavior with large deformation/displacement and time-varying length is crucial. Numerical analyses are beneficial in that it is difficult to carry out experiments in such environment. In this paper, an efficient numerical approach is proposed for a flexible body motion with time-varying length using a dimensionless equation of motion. Generally Absolute Nodal Coordinate Formulation (ANCF), which is a nonlinear finite element method is effective for dynamic simulation of a flexible body motion. VFE-ANCF, which applies variable-domain finite element (VFE) as a method of expressing time-varying length to ANCF, was proposed to represent the motion of a flexible body with large deformation, displacement and time-varying length. However, conventional approach using VFE-ANCF has a problem that the accuracy changes depending on the length change. So in this paper, to avoid this problem, dimensionless variables are introduced using representative value that changes with time-varying length. In addition, the usefulness of this method is shown by comparing the numerical results using this method and the conventional method.
In this paper, a numerical method is proposed for a flexible tether motion that spans two different environments and has large displacement and deformation. When considering the behavior of a tethered system in which the tether cable is subjected to the above conditions, variations of an internal boundary in the tether must be considered. In general, the absolute nodal coordinate formulation (ANCF), a nonlinear finite element method, is effective for the dynamic simulation of a flexible body with large displacement and deformation. However, in conventional methods, such as ANCF, the analysis accuracy decreases and the calculation cost increases when the movement of an internal boundary across different environments is considered. In this study, an efficient numerical approach that considers the variations of an internal boundary by using ANCF using variable-domain finite elements is proposed. In addition, to further improve the calculation efficiency, dimensionless variables are introduced using appropriate representative values. The accuracy of the numerical results obtained using the proposed method, which considers an internal variable boundary, is similar to that for a conventional method.
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