Rigid-flexible hybrid modeling and dynamic simulation of three-coordinate heavy-load transfer vehicle

The spent fuel in the nuclear radiation environment is generally transported by transfer vehicles, which are required to be able to run smoothly under high speed and high acceleration. In this paper, dynamic analysis and simulation of a new type of heavy-load transfer vehicle were carried out. Firstly, the design structure of the transfer vehicle was presented, and the theoretical calculation methods for the forces on the V-shaped rollers and the dynamic deflection of the column were proposed. Then the working space of the vehicle was analyzed. And the dynamic model of rigid bodies and flexible bodies were established according to the Lagrange equations. Moreover, the velocity and acceleration of main components and the contact forces of the V-shaped rollers were analyzed by using ADAMS, and the optimal control strategy was proposed. Finally, the motors output torque of the vehicle was tested to validate the accuracy of the theoretical analysis and simulation. The experimental results are in good agreement with the theoretical and simulation results, and the dynamic performance of the transfer vehicle meets the design requirements.