Abstract: Aiming at the complex motion state and wear problems of the granules due to the interaction with friction and collision between the granules and the vibration of unloading surfaces， the dynamic model of the unloading system considering nonlinear vibration was proposed based on the Coulomb friction model and collision theory. The effects of excitation amplitude and stiffness ratio on dynamic characteristics， vibration transmission and flow regularity of granules were analyzed by utilizing the incremental harmonic balance method and numerical integration method. The results showed that the hardening nonlinear behavior strengthens， the multi-solution region widens， the force transmissibility decreases and the delay phenomenon appears with the increase of excitation amplitude and stiffness ratio. Different flow state of granules are observed under the same operating condition， and relative rest and forward sliding motion occur after jump and collision due to the influence of nonlinear factor of tire and suspension.

Key words: vibration flow-aiding; nonlinear vibration; flow characteristics; force transmissibility; incremental harmonic balance method(IHBM)