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Hey guys, I am simulating a dynami

Hey guys, I am simulating a dynami

Hey guys, I am simulating a dynami

(OP)
Hey guys,
I am simulating a dynamic robot movement on ADAMS 2020 and I want to record normal forces between driving wheels and the ground but I am encountering very high oscillations (shown in attached screenshot) in certain times of the simulation when I enter the post-processor. I tried increasing/decreasing damping coefficient of the contact force and I also checked that the wheel is not bouncing on the ground (y-displacement shown in attached screenshot) but still the high oscillations remained.
Any idea why and how to fix that?
Thanks in advance.

RE: Hey guys, I am simulating a dynami

If the force is going to zero then the wheel is coming off the ground. So your y plot is misleading you, or your wheel has an unladen radius of 79.2.

Run the first second only so we can see what is happening.

Cheers

Greg Locock


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RE: Hey guys, I am simulating a dynami

(OP)
First of all thanks Greg for the quick reply.
Attached is the post-processor results for 1 second time. And can you please elaborate more on the idea of "no compliance there to damp"?

RE: Hey guys, I am simulating a dynami

So, you are dropping the robot from 80 mm, the wheel makes contact, and compresses by 0.8 mm, with a force of 7000 N. Therefore its compliance is of the order of that of a steel disc not a tire. Damping that compliance won't work, the velocities will be too small.

Cheers

Greg Locock


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