Dynamic modelling of too heavy truck

Hello all,

I have to model an articulated truck dynamically.The truck is very heavy (> 15000 kg). I am doing that using xacro format but still have some problems.
1- How can one choose the right specifications of the wheels to be as possible realistic (mechanically the wheel can be represented by a spring and damper in parallel). actually I am using for that the parameters (mu, kp, kd) but I have no idea how to choose their values.
2- In the picture below, how can one define the spring/damper between the axle and the truck chassis? And how can model the shown "A_frame" ?

Thanks in advance.

image description

Asked by adel on 2020-07-07 11:16:24 UTC

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Answers

Regarding the second question:
To implement the spring/damper I had not to add new links to represent them, but in the revolute joint I used two dynamics properties "damping" and "friction". Thus, the behavior was got, but it is not perfect because the chosen value of damping and friction was chosen experimentally not using mathematic to get the real values. But still the problem of how to choose the values of the coefficient and properties for the wheels and the revolute joint

Asked by adel on 2020-07-09 05:41:17 UTC