Simulation of kinetic joint forces in a nutating grinding mill

A nutating grinding mill, exemplified by the commercial HICOM mill, achieves efficient particle size reduction through the accelerated motion of the material charge within the nutating chamber. This design, characterised by high particle velocities and rapid charge circulation, offers a compact solution compared to tumbling mills. There have been concerns regarding the mechanical reliability of kinetic joints for certain specialised mining applications. Recognising the need to model internal forces in such systems, this study focuses on the uncoupled simulation using multibody dynamics and the discrete element method. The investigation employed a small-scale experimental test mill, referred to as the NuMILL, featuring a cylindrical chamber (140 mm internal diameter, 245 mm height, 6° nutation angle). Instrumented with an array of sensors, the NuMILL provided internal load data for validating the simulations. Experiments were conducted with an empty chamber or filled with charge material. Charge materials included coarse sand or steel pellets with a charge-to-chamber mass ratio of 0.25. The mill speed ranged between 100 to 700 RPM. Multibody dynamics modelled resultant inertial and frictional loads within 5%, while the discrete element method simulated the internal material contact loads with accuracies ranging from 1% to 19%. The combined simulation approach predicted the resultant forces in the critical kinetic joint within a 20% margin. Representing the charge using rigid lumped mass elements was also studied. The presented simulation techniques, validated against experimental data, offer a robust foundation for analysing larger systems, including the industrial-scale HICOM.