A static method for computation of the tilting angle of working vehicles

Abstract eng:
In this paper we present a static method for computation of the tilting angle of working vehicles using the finite element method. Behaviour of the working vehicle substruc- ture is modeled using geometrically exact beam elements based on Reissner ’s beam model. It is assumed that the working vehicle is supported to the ground via support legs. The contact between the support legs and the ground is modelled with two node contact elements. The dis- placement control method is used to tilt the structure and unstable configuration is found when the ground contact of the last support point outside the tilt line is lost. For practical computations a two node contact element capable for analysing large dis- placements and rotations is introduced In the three dimensional case the first node has six degrees of fieedom, three translational and three rotational, where the rotational dof takes into account the contact direction. The second node has three translational dofs. In the plane case the element is degenerated from the three dimensional element. Performance of the proposed solution method and the contact element is demonstrated by two examples. The first example is a plane case where a single rod element is tilted The external load is substituted to the rod degrees of freedom via equivalent nodal load In the second ex- ample a three dimensional frame structure has four support legs. During the analysis one support leg looses its contact to the ground due to unsymmetric dead load and torsional flexi- bility while the rest three support legs are still in contact i.e. the frame is stable. The analysis is continued until the second support leg looses the ground contact. A point wise nodal con- tact is assumed between the support leg and the ground

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