Title: Real-time simulation model for dynamic analysis of three-wheel counterbalance forklift

Authors: Qasim Khadim; Emil Kurvinen; Esa-Pekka Kaikko; Tero Hukkataival; Aki Mikkola

Addresses: Department of Mechanical Engineering, Lappeenranta University of Technology, Skinnarilankatu 34, 53850 Lappeenranta, Finland ' Department of Mechanical Engineering, Lappeenranta University of Technology, Skinnarilankatu 34, 53850 Lappeenranta, Finland ' Rocla Oy – a group company of Mitsubishi Logisnext Co., Ltd., Jampankatu 2, 04440 Järvenpää, Finland ' Rocla Oy – a group company of Mitsubishi Logisnext Co., Ltd., Jampankatu 2, 04440 Järvenpää, Finland ' Department of Mechanical Engineering, Lappeenranta University of Technology, Skinnarilankatu 34, 53850 Lappeenranta, Finland

Abstract: Modern multibody simulation techniques enable the explicit description of complex mechanical systems such as mobile and industrial machinery into relevant equations of motion. The subsequent solution of the equations of motion can lead to simulation in real-time. Presently, real-time simulation models based on multibody dynamics can account for a large number of rigid and flexible bodies as well as contact descriptions. It enables the inclusion of physical phenomena and user feelings associated with multibody systems in the real-time simulation. These specifications can be used in a number of product processes including user training and product development. The present study applies real-time multibody simulation to a three-wheel, two-ton counterbalance forklift. The forklift simulation model includes rigid bodies, joints, a contact model, friction forces, power transmission, and a steering mechanism. The study reports aspects associated with forklift performance such as speed, speed reduction around a curved path, mast wobbling, maximum lifting capacity, and vibrations during the lift. The simulation model is verified by comparing the speed, acceleration, mast lift and tilt speeds with the measurements of a reference forklift.

Keywords: product development; physical prototyping; real-time simulation; three-wheel counterbalance forklift; multibody systems; mast wobbling.

DOI: 10.1504/IJVSMT.2018.098332

International Journal of Vehicle Systems Modelling and Testing, 2018 Vol.13 No.2, pp.109 - 124

Received: 31 Mar 2018
Accepted: 24 Apr 2018

Published online: 14 Mar 2019 *

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