Virtual prototyping of grabs: Co-simulations of discrete element and rigid body models

This dissertation has investigated whether a combination of DEM and MBD can be used for a reliable and accurate environment for predicting grab unloading performance. A grab is a type of bulk material handling equipment used for unloading materials such as coal and iron ore from vessel to shore. Both a grab and iron ore pellets have been modelled and coupled into a co-simulation. Particle stiffness reductions and coarse graining techniques have been developed and applied to reduce computational costs. The developed large scale coupled grab-pellets model compared very well with validation experiments conducted on a bulk terminal with a scissors grab. A demonstration of virtual prototyping of grabs showed that when this model is implemented in the grab design process significant improvements in grab performance can be achieved.