Dynamic Modeling of Machinery

The Front Loader

Utilizing the building blocks dynamics and the use of computational methods to analyze dynamic systems.
Develop and analyze the dynamics of a front loader using simple equations and numerical techniques.

Import an image of a front loader into Autodesk Fusion 360.
- 3D models are created for each component and the center of mass and mass of each component was determined.
Set up the coordinate frame and generate the assembly using the corresponding prismatic or revolute joints.
The analysis procedure:
- Newton-Raphson -- used to setup the time-dependent algorithm.
- Embedding Technique -- used to determine the equations of motion of a dynamic system.
- Runge-Kutta numerical integration -- used to determine the position of each linkage from the acceleration values.
Two studies were conducted:
- Application of a cyclical force on the lower hydraulic system (linkage 6).
- Application of a cyclical force on the upper hydraulic system (linkage 3).

Some of the study results

Prediction of the output motion of the Hybrid Robotic Platform based on the force output of the stacked electrohydraulic actuator system.

A multibody dynamics model was built to predict the position of the linkages.
The model uses forward dynamics techniques, the computational analysis was built in MATLAB.
The model uses the Embedding Technique; this computational method allows for the constraints of the system to be eliminated but maintain the proper system of equations for solving.
The input force of the system was determined by using in situ experimental data.
- A square wave curve fit was the force equation input for the algorithm.
- To achieve the undulating locomotion the platform body a pulse width modulation (PWM) scheme was also included to simulate the controller that will be used to control the actuators.

Model Results

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