Nonlinear dynamics of a cable–pulley system using the absolute nodal coordinate formulation

Bulín, Radek; Hajžman, Michal; Polach, Pavel

doi:10.1016/j.mechrescom.2017.01.001

Cited by 51 publications

(23 citation statements)

References 14 publications

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“…Thus, 20 elements were used for subsequent simulations. Figure 3a also indicates that the model implementation is able to capture a large dynamic variation of the wrap angle (122 degrees peak-to-peak) something which previous studies have not explicitly shown [7].…”

Section: Computer Implementationmentioning

confidence: 76%

“…The normal force vector F n acting at a single point on the element is defined using the Hunt-Crossley model [8], which represents the surface as a non-linear spring-damper (21) where ȓ is the unit vector normal to the pulley surface at the point of contact, K n is the contact stiffness, δ is the relative "penetration" of the node into the surface, D is a damping coefficient and b is a positive constant with a value between 1 and 1.5 from the Hertz contact theory [14]. Selecting the origin at the center of the pulley with radius R and noting that a negative value of the penetration has no physical meaning, the penetration and penetration velocity are defined [7]:…”

Section: Cable-pulley Contact Forcesmentioning

confidence: 99%

“…It is thus well suited for cable contact problems, wherein the cable undergoes large deformations along the contact arc and mainly rigid body displacements elsewhere. While research extending the ANCF method to contact problems is limited, it has been applied to systems such as belt-drives [6], caternary-pantograph systems [4], as well as cable-pulley interactions [7,8,9].…”

Section: Introductionmentioning

confidence: 99%

“…Bulin et al [7] use the ANCF approach to model both a statically loaded cable-pulley system and an actuated system with a mass on a slope attached to one cable end and a motor on the other. While their investigation focused mainly on the frictional aspects of the contact, the researchers also examined the normal contact force distribution as a function of the wrap angle.…”

Section: Introductionmentioning

confidence: 99%

“…Experimental validation of cable models with surface contact is uncommon in the literature. The systems examined in the literature mostly consist of purely reciprocating cable motion [8,9] or systems with only small variations in the wrap angle [7]; however, there are scenarios where a dynamic cable model which can accurately depict variations in wrap angle is useful [1,10]. One such scenario is the cable and pulley systems for marine towed bodies where the cable is unconstrained on the submerged end and experiences highly dynamic loads and excitations.…”

Section: Introductionmentioning

confidence: 99%

See 4 more Smart Citations

Cable-Pulley Interaction with Dynamic Wrap Angle Using the Absolute Nodal Coordinate Formulation

Westin¹,

Irani²

2017

Proceedings of the 4th International Conference of Control, Dynamic Systems, and Robotics (CDSR'17)

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-This paper presents a finite element model of a flexible cable that has been constructed to accurately model dynamic wrap angles around a static pulley. The study considers a system with a rope running over a pulley and a suspended load on one end moving in a circular arc. The model utilizes the Absolute Nodal Coordinate Formulation to define the generalized coordinates, chosen for its accurate definitions of large non-linear cable deformations. The interaction of the cable with the surface of a pulley is modeled using a contact penalty formulation. An experimental study is performed to analyze the performance of the model outputs: cable tension and wrap angle. During the testing the wrap angle had peak-to-peak oscillations of up to 122 degrees. The numerical simulation shows reasonable agreement with the experimental measurements.

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Section: Computer Implementationmentioning

confidence: 76%

Section: Cable-pulley Contact Forcesmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 3 more Smart Citations

Cable-Pulley Interaction with Dynamic Wrap Angle Using the Absolute Nodal Coordinate Formulation

Westin¹,

Irani²

2017

Proceedings of the 4th International Conference of Control, Dynamic Systems, and Robotics (CDSR'17)

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Trade study to select best alternative for cable and pulley simulation for cranes on offshore vessels

Fotland

Haskins

Rølvåg

2019

Systems Engineering

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Cranes on offshore vessels are subjected to crane dynamics, structural couplings to the vessel, and environmental influence by waves and currents. The recent trend has been to use larger cranes on smaller vessels, which makes the lifting operation more complex and potentially dangerous. The use of digital twins (DTs) is emerging as one way to enable safer operations, real‐time simulation, and maintenance prediction. On offshore vessels, a DT can monitor the lifting operation to create a safer work environment. The SPADE (stakeholders, problem formulation, alternatives, decision making, and evaluation) model has been used as a framework toward the creation of a DT of cranes on offshore vessels. Several cases involving simulation of cranes revealed the lack of an adequate simulation of cable and pulleys suitable for use in a DT. The simulation is important for accurate results and for implementation in control systems. A trade study was performed to determine a numerical method adequate for cable and pulley simulation. The trade study identified the absolute nodal coordinate formulation in the framework of arbitrary Lagrangian–Eulerian as a promising numerical formulation.

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Approaches to Fibre Modelling in the Model of an Experimental Laboratory Mechanical System

Polach

Hajžman

Bulín

2019

Multibody Dynamics 2019

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Nonlinear dynamics of a cable–pulley system using the absolute nodal coordinate formulation

Cited by 51 publications

References 14 publications

Cable-Pulley Interaction with Dynamic Wrap Angle Using the Absolute Nodal Coordinate Formulation

Cable-Pulley Interaction with Dynamic Wrap Angle Using the Absolute Nodal Coordinate Formulation

Trade study to select best alternative for cable and pulley simulation for cranes on offshore vessels

Approaches to Fibre Modelling in the Model of an Experimental Laboratory Mechanical System

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