28/03/2014

3D Link-Segment Analyses

Hand FBD
Hand Mass = 0.408 kg
ax = 0.204 m/s2
ay = 0.999 m/s2
az = 0.500 m/s2
z = -52.31 rad/s
Iz = 0.0000647kg*m2

Wy

W (1,3,1) m

Wx

COM (2,2,1) m
Wz
MPJ (1,1,1) m

MK
mg

HL = (150,0,0) kg

28/03/2014

Calculate Moment Arms (3D)

rHL = MPJ(x,y,z) COM (x,y,z)
rHL = (3,1,1) (2,2,1)
rHL = (1,-1,0)

Wy

W (1,3,1) m

Wx
COM (2,2,1) m

Wz
MKz
rW = MPJ(x,y,z) COM(x,y,z)
rW = (1,3,1) (2,2,1)
rW = (-1,1,0)

MPJ (3,1,1) m
mg
HL = (0,15,0) kg

Hand

Fx = m*ax
Wx = m*ax
Wx = (0.408 kg * 0.204m/s2)
Wx = 0.083 N

Fz = m*ax
Wz = m*ax
Wz = (0.408 kg * 0.5m/s2)
Wz = 0.0204 N

Fy = m*ay
Wy mg - HL = m*ay
Wy = HL + mg + m*ay
Ky = 147.15 N + (0.408 kg * 9.81 m/s2) + (0.408 kg * 0.999 m/s2)
Ky = 147.15 N + 4.00 N 0.41 N
Ky = 151.56 N
FP = (0.083, 151.56, 0.0204) N
M = MH + MP + MD = I
MH = - MP - MD + I

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MD
||r x F|| = rF
r x F = (ryFz rzFy)i + (rzFx rxFz)j + (rxFy - ryFx)k
r x F = (-1*0 0*147.15)i + (0*0 1*0)j + (1*147.15 -1*0)k
r x F = (0 0)i + (0 0)j + (146.15 0)k
r x F = 0i + 0j + 147.15k
MP= (0,0,147.15) Nm
r= (1,-1,0)
F = (0,147.15,0)

-1

-1

147.15

147.15

MP
||r x F|| = rF
r x F = (ryFz rzFy)i + (rzFx rxFz)j + (rxFy - ryFx)k
r x F = (1*0.0204 0*151.56)i + (0*151.56 -1*0.0204)j
+ (-1*151.56 1*0.083)k
MP= (0.0204, 0.0204, - 151.643) Nm

-1

-1

0.083

0.083

151.56

151.56 0.0204

r= (-1,1,0)
FP = (0.083,151.56, 0.0204) N
6

28/03/2014

Hand

Fx = m*ax
Wx = m*ax
Wx = (0.408 kg * 0.204m/s2)
Wx = 0.083 N

Fz = m*ax
Wz = m*ax
Wz = (0.408 kg * 0.5m/s2)
Wz = 0.0204 N

Fy = m*ay
Wy mg - HL = m*ay
Wy = HL + mg + m*ay
Ky = 147.15 N + (0.408 kg * 9.81 m/s2) + (0.408 kg * 0.999 m/s2)
Ky = 147.15 N + 4.00 N 0.41 N
Ky = 151.56 N
FP = (0.083, 151.56, 0.0204) N
Mz = MH + MP + MD = Iz
MH = - (0.0204, 0.0204, - 151.643) - (0,0,147.150) + (0,0,Iz*z)
MH = (-0.0204, -0.0204, 4.4896) Nm