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Kinematics Dynamics of Machines Ultimate Defender PDF
Kinematics Dynamics of Machines Ultimate Defender PDF
Table of Contents
INTRODUCTION ............................................................................................ 3
MATRIX-VECTOR INTRODUCTION ........................................................ 11
MATLAB INTRODUCTION ........................................................................ 25
MOBILITY..................................................................................................... 29
FOUR-BAR MECHANISM POSITION ANALYSIS................................... 34
GRASHOFS LAW........................................................................................ 49
SLIDER-CRANK MECHANISM POSITION ANALYSIS.......................... 53
VELOCITY ANALYSIS INTRODUCTION ................................................ 62
FOUR-BAR MECHANISM VELOCITY ANALYSIS ................................. 67
SLIDER-CRANK MECHANISM VELOCITY ANALYSIS ........................ 78
ACCELERATION ANALYSIS INTRODUCTION...................................... 85
FOUR-BAR MECHANISM ACCELERATION ANALYSIS ...................... 91
SLIDER-CRANK MECHANISM ACCELERATION ANALYSIS ........... 100
INPUT MOTION SPECIFICATION ........................................................... 106
DYNAMICS INTRODUCTION.................................................................. 110
MASS, CENTER OF GRAVITY, MASS MOMENT OF INERTIA .......... 115
SINGLE ROTATING LINK INVERSE DYNAMICS ................................ 124
FOUR-BAR MECHANISM INVERSE DYNAMICS................................. 133
SLIDER-CRANK MECHANISM INVERSE DYNAMICS........................ 147
CAM INTRODUCTION .............................................................................. 156
ANALYTICAL CAM SYNTHESIS ............................................................ 168
GEAR INTRODUCTION ............................................................................ 175
GEAR TRAINS AND GEAR STANDARDIZATION................................ 185
Helical - rotation about fixed axis and translation along axis - screw
4-Bar Mechanism
Scotch-Yoke Mechanism
Cam-and-Follower Mechanism
10
11
Matrix-Vector Introduction
Vectors
Arrow in the plane with magnitude and direction. Used to
represent position, velocity, acceleration, force. Also, arrow normal
to the plane to represent angular velocity, angular acceleration, and
torque (moment) vectors (see later in notes).
Cartesian representation:
Polar representation:
Magnitude at angle: P @
12
Vector Addition
Vectors add tail-to-head (subtract
components in same coordinate frame.
head-to-tail);
express
13
14
15
k Vectors
Example:
= k ;
+ ccw (curling in the direction of the right hand fingers)
cw (curling in the opposite direction of the right hand fingers)
16
Vector Examples
1
P1 =
2
3
P2 =
2
Addition:
P1 + P2 =
Dot Product:
P1 P2 =
Cross Product:
P1 P2 =
17
Matrices
Matrix: m x n array of numbers, where m is the number of rows
and n in the number of columns.
a11 a12
a
a22
21
A
=
[ ]
#
#
am1 am 2
" a1n
" a2 n
% #
" amn
Square (m=n=3)
a11 a12
[ A] = a21 a22
a31 a32
a13
a23
a33
Diagonal
a11 0
[ A] = 0 a22
0
0
0
0
a33
Identity
1 0 0
[ I ] = 0 1 0
0 0 1
18
a11
T
[ A] = a12
a13
Transpose
a21
a22
a23
a11
T
[ A] = [ A] = a12
a13
Symmetric
a31
a32
a33
a12
a22
a23
a13
a23
a33
x1
Column Vector (3x1 matrix) { X } = x2
x3
Matrix Addition
{X }
= { x1
x2
x3 }
a b e
c d + g
f a + e b + f
=
h c + g d + h
a b ka kb
k
= kc kd
c
d
[C ] = [ A][ B ] [ B ][ A]
Matrix Multiplication
19
[C ] = [ A][ B ]
( mxn ) ( mxp )( pxn )
That is, the number of columns in the left-hand matrix must equal the
number of rows in the right-hand matrix; if not, the multiplication is
undefined and cannot be done!
Multiplication proceeds by
multiplying and adding terms along the rows of the left-hand matrix
and down the columns of the right-hand matrix: (use your index
fingers from the left and right hands):
Example:
a b
d e
[C ] =
g
c ag + bh + ci
h =
f dg + eh + fi
i
note the inner indices (p=3) must match, as stated above and the
dimension of the result is the outer indices, i.e. 2x1.
20
1 2 3
A
=
[ ]
4 5 6
7 8
[ B ] = 9 8
7 6
[C ] = [ A][ B ]
7
1 2 3
=
9
4
5
6
7
7 + 18 + 21
=
28 + 45 + 42
8
8
6
8 + 16 + 18 46 42
=
32 + 40 + 36 115 108
( 2 x 2 ) ( 2 x3)( 3x 2 )
[ D ] = [ B ][ A]
7 8
1 2 3
= 9 8
4 5 6
7 6
7 + 32 14 + 40 21 + 48 39 54 69
= 9 + 32 18 + 40 27 + 48 = 41 58 75
7 + 24 14 + 30 21 + 36 31 44 57
( 3x3) ( 3x 2 )( 2 x3)
21
Matrix Inversion
[C ] = [ A][ B ]
[ A] [C ] = [ A] [ A][ B ]
= [ I ][ B ]
= [ B]
1
[ B ] = [ A]
[C ]
[ A]
where:
Adjoint ( A )
=
A
Determinant of [A]
Adjoint ( A ) = Cofactor ( A )
Cofactor(A)
aij = ( 1)
i+ j
M ij
22
[ A]{ x} = {b}
where:
a11 a12
[ A] = a21 a22
a31 a32
a13
a23
a33
(known coefficients)
x1
{ x} = x2
x
3
(unknowns to be solved)
b1
{b} = b2
b
3
23
Matrix Example
6 4
[ A] =
1 2 x1 5
6 4 x = 14
x1
x2
{b} =
14
{x} =
{x} = [ A]1{b}
A = 1(4 ) 2(6 ) = 8
[ A]1 =
check:
1 4 2 1 / 2 1 / 4
=
A 6 1 3 / 4 1 / 8
1 0
0 1
x1 1 / 2 1 / 4 5 1
=
=
x2 3 / 4 1 / 8 14 2
Answer.
24
Calculate determinant of A
Calculate the inverse of A
Solve linear equations
Extract answers
25
Matlab Introduction
Matrix laboratory
26
27
%--------------------------------------------------------------% Matlab Example Code 1: MatEx1.m
%
Matrix, Vector examples
%
Dr. Bob, ME 301
%--------------------------------------------------------------clc; clear;
%
%
%
A1
x1
v
A1T = A1';
vT = v';
%
%
%
%
%
A2
= [1 2 3; ...
1 -1 1; ...
8 2 10];
= [3;2;1];
detA2
= det(A2);
x2
= inv(A2)*b;
check = A2*x2;
Check results;
Better be zero!
%
%
%
= b - check;
who
whos
%
%
%
v
x2
z
28
%--------------------------------------------------------------% Matlab Example Code 2: MatEx2.m
%
Menu, Input, FOR loop, IF logic, Animation, and Plotting
%
Dr. Bob, ME 301
%--------------------------------------------------------------clc;
r
clear;
= 1;
= 2;
%
% Input
%
anim = menu('Animate Single Link?','Yes','No')
the = input('Enter [th0, dth, thf] (deg): ')
th0 = the(1)*DR; dth = the(2)*DR; thf = the(3)*DR;
th = [th0:dth:thf];
N
= (thf-th0)/dth + 1;
Constants
%
%
%
%
%
Menu to screen
User types input
Initial, delta, final thetas
Assign theta array
Number of iterations for loop
%
% Animate single link
%
if anim == 1
%
figure;
%
for i = 1:N;
%
x2 = [0
L*cos(th(i))];
%
y2 = [0
L*sin(th(i))];
plot(x2,y2); grid;
%
set(gca,'FontSize',18);
xlabel('\itX (\itm)'); ylabel('\itY (\itm)');
axis('square'); axis([-2 2 -2 2]);
%
pause(1/4);
%
if i==1
%
pause;
%
end
end
end
%
%
%
xc
yc
f1
f2
r*cos(th);
r*sin(th);
cos(th);
sin(th);
Circle coordinates
%
%
%
% plots
%
figure;
% Co-plot cosine and sine functions
plot(th/DR,f1,'r',th/DR,f2,'g'); grid; set(gca,'FontSize',18);
legend('Cosine','Sine');
axis([0 360 -1 1]); title('Functions of \it\theta');
xlabel('\it\theta (\itdeg)'); ylabel('Functions of \it\theta');
figure;
% Plot circle
plot(xc,yc,'b'); grid; set(gca,'FontSize',18);
axis(['square']); axis([-1.5 1.5 -1.5 1.5]); title('Circle');
xlabel('\itX (\itm)'); ylabel('\itY (\itm)');
29
Mobility
Mobility:
Degrees-of-freedom (dof):
Where:
M is the mobility
N is the total # of links, including ground
J1 is the number of one-degree-of-freedom joints
J2 is the number of two-degree-of-freedom joints
30
One-degree-of-freedom joints:
Revolute
Prismatic
Two-degree-of-freedom joints (all have rolling and sliding):
Cam joint
Gear joint
Slotted-pin joint
Caution: m links joining at one revolute location, must count m-1
joints!
Caution: must count ground link (its freedom is subtracted in formula
with n-1.
Planar mechanical device classification:
M >1
M =1
M =0
M <0
31
1)
2)
4-bar linkage
3)
Slider-crank linkage
4)
5)
32
6)
Gear pair
7)
8)
9)
Statically-determinate structure
33
34
35
36
37
Solve using the tangent half angle substitution (Text Equation 4.9):
t = tan 4
2
cos 4 =
1 t2
1 + t2
sin 4 =
2t
1 + t2
38
BY AY
B X AX
3 = tan 1
39
remain in the range 40D < < 140D for good transmission in a
mechanism. By geometry:
40
Given
r1 = 11.18
r1 = 0.284
r2 = 3
r2 = 0.076
r3 = 8
in
r3 = 0.203
r4 = 7
r4 = 0.178
and 1 = 10.3D (Ground link is 11" over and 2" up). Also given
RC / A = 5 (in) and 3 = 36.9 D for the coupler link point of interest.
Snapshot Analysis (one input angle)
E = 0.076
F = 0.005
G = 0.036
Branch
Open
Crossed
t
1.79
-1.57
53.8D
47.0D
121.7 D
114.9D
67.9 D
67.9D
PC
0.06, 0.16
0.19, 0.02
41
0.25
0.2
0.15
Y (m)
0.1
0.05
0
-0.05
-0.1
-0.1
0.1
X (m)
0.2
0.3
Y (m)
0.1
0.05
0
-0.05
-0.1
-0.1
0.1
X (m)
0.2
0.3
42
43
Coords of link 2
Coords of link 3
Coords of link 4
44
deg, for all 0 D 2 360 D , for Term Example 1, open branch only.
The second plot gives the coupler point location for this branch,
plotting PCY vs. PCX .
Thetas 3 (red) and 4 (green), Mu (blue)
180
160
Angle (deg)
140
120
100
80
60
40
20
0
50
100
150
200
2 (deg)
250
300
350
45
0.25
0.2
0.15
Y (m)
0.1
0.05
0
-0.05
-0.1
-0.1
0.1
X (m)
0.2
0.3
46
Trigonometric Uncertainty
r3c3 = r1c1 + r4 c4 r2 c2
r3 s3 = r1s1 + r4 s 4 r2 s 2
Since 4 has been solved, why not calculate 3 using Y equation?:
47
So we must use information from both sine and cosine (i.e. both X
and Y equations) - this suggests using the tangent (as we did earlier in
the 3 solution):
r1s1 + r4 s 4 r2 s 2
r1c1 + r4 c4 r2 c2
3 = tan 1
e.g. 3 = tan 1 1 ; figure:
3
Problem: the plain atan inverse tangent function is still doublevalued!; for each 4 there are two possible solutions, only one of
which is correct! Solution: use the quadrant-specific inverse
tangent function atan2. Input to this function is both a numerator and
denominator; the function has built-in logic to determine the correct
quadrant for the angle answer, given the signs of the numerator
and denominator. The plain atan function takes a single quotient
input; hence this sign information is lost and the true quadrant is
unknown. No uncertainty with atan2:
1
3
=
e.g. 3 = a tan 2 + ,+
2
2
1
2
3 = a tan 2 ,
3
=
2
48
4 = 2 tan 1 (t )
(there are two branches, one for each t value; only showing one here.)
With the 2 multiplying the inverse tangent result, it doesn't matter
whether we use atan or atan2 since the final answer will come to the
same angle. Example:
2
4
2
4
2
= 30 D or
= 210D
4 = 60 D or
4 = 420 D = 60 D
Now, for next time consider the following: Do the solutions for 4
always exist?
What if E 2 + F 2 G 2 = 0 ? What if
E 2 + F 2 G 2 < 0 ? Stay tuned . . .
49
Grashofs Law
L, S, P, Q
a)
b)
c)
50
2 =4 =
51
(r3 + r4 )2
2
1 r1
2 L = cos
+ r22 (r3 + r4 )2
2r1r2
by symmetry about r1
52
Given r1 = 10, r2 = 6, r3 = 8, r4 = 7
L + S > P + Q (10 + 6 > 8 + 7)
so we predict only double rockers from this mechanism.
Example 1:
2
2
2
1 10 + 6 (8 + 7 )
2 L = cos
2(10 )(6 )
1
D
= cos [ 0.742] = 137.9
Given r1 = 10, r2 = 4, r3 = 8, r4 = 7
L + S < P + Q (10 + 4 < 8 + 7),
so we predict this mechanism is a crank-rocker. Therefore, there are
no joint limits!
Example 2:
2
2
2
1 10 + 4 (8 + 7 )
2 L = cos
= cos
2(10 )(4 )
which is undefined!
[ 1.3625]
Caution: the figure on the previous page does not apply in all joint
limit cases. For certain mechanisms, the limiting conditions occur
when links 3 and 4 fold upon each other instead of stretching straight
out. The previous method can also be used to find angular limits on
link 4 when it is a rocker; here links 2 and 3 either stretch out in a
line or fold upon each other.
53
2 input angle
3 coupler angle
x output displacement
54
55
56
Full-rotation condition
h r2 s2
1
r3
r3 h r2 s2
which must hold for all motion. The worst case is 2 = 90 D , which
yields
r3 h + r2
57
Given:
r2 = 4
r2 = 0.102
r3 = 8 in
r3 = 0.203 m
h=3
h = 0.076
x (m)
0.290
-0.114
3
7.2D
172.8D
58
0.2
Y (m)
0.1
-0.1
-0.2
-0.1
0.1
X (m)
0.2
0.3
Y (m)
0.1
-0.1
-0.2
-0.1
0.1
X (m)
0.2
0.3
59
Slider Limits
The crank will rotate fully if the previously-derived condition is
met. The slider reaches its maximum displacement when links 2 and
3 are aligned straight out and its maximum displacement when link 2
if folded onto link 3. We can draw two right triangles representing
these conditions and easily calculate the x limits to be
0.0671 x 0.2951, as seen in the full motion x plot, next page.
60
Slider Displacement
0.3
0.25
x (m)
0.2
0.15
0.1
0.05
0
50
100
150
200
2 (deg)
250
300
350
61
Coupler Angle
60
50
(deg)
40
30
20
10
0
-10
0
50
100
150
200
2 (deg)
250
300
350
62
Most general planar case: Translating and rotating rigid rod with a
slider on it. Find the total velocity of point P on the slider. Express
the position vector in Cartesian coordinates:
P P = PO + L =
63
Only the planar case is this simple; the spatial rotation case is more
complicated. The length of the rod is changing with sliding velocity:
Chain rule:
d
df dx
( f ( x(t ))) =
f is a function of x, which is a function of t.
dt
dx dt
Example:
d
(L cos ) = ?
dt
64
d PP
=
dt
65
VO
Name
Point O
Velocity
Sliding
Velocity
Tangential
Velocity
XY
Components
Magnitude /
Direction
66
D
D
VOX + V cos L sin 3 + 3cos30 2 (1) sin 30
VP =
=
D
D
sin
cos
+
+
V
V
L
2
3sin
30
2
1
cos30
+
+
(
)
OY
3 + 2.598 1 4.598 m
VP =
=
2
1.5
1.732
5.232
+
+
s
or,
VO
Name
Point O
Velocity
Sliding
Velocity
Tangential
Velocity
XY
Components
Magnitude /
Direction
67
68
Step 4. Derive the velocity equations. Take the first time derivative
of the vector loop closure equations from position analysis, in XY
component form.
Four-bar mechanism position equations:
r 2 + r 3 = r1 + r 4
r2c2 + r3c3 = r1c1 + r4c4
r2 s2 + r3 s3 = r1s1 + r4 s4
First time derivative for velocity equations: (use chain rule several
times) Chain rule:
d cosi di
d
( cosi ) =
dt
di dt
= sin ii
= sin ii
d sin i di
d
( sin i ) =
dt
di dt
= cosii
= cosii
69
70
71
72
Physically, this happens when links 3 and 4 are straight out or folded
on top of each other (what does this correspond to?):
73
74
3 1.271
=
4 0.587
75
(rad/s)
1.5
1
and
0.5
-0.5
-1
-1.5
0
50
100
150
200
2 (deg)
250
300
350
76
The plot below gives the translational coupler point velocity for all
0 D 2 360 D , for Term Example 1, open branch only.
Coupler Point Velocities X (red) and Y (green)
0.3
0.2
0.1
0
-0.1
-0.2
0
50
100
150
200
2 (deg)
250
300
350
77
Derivative/Integral Relationships
When one variable is the derivative of another, what are the
relationships? For example:
d
3 = 3
3 = 30 + 3dt
dt
1
0.8
(rad)
1.2
0.6
0.4
0
50
100
150
200
250
300
350
50
100
150
200
2 (deg)
250
300
350
(rad/s)
3
-1
0
The value of 3 at any point is the slope of the 3 curve at that point.
The value of 3 at any point is the integral of the 3 curve up to that
point (the value of 3 at any point is the area under the 3 curve up
to that point).
This graph is vs. 2 , but the same type of relationships hold as
for time t since 2 is constant. This is the Term Example 1 result,
but we changed 3 from deg to rad for better comparison.
78
Again, we will solve the Air Compressor case where the crank is
the input and the slider is the output. The Internal Combustion
Engine case (slider input/crank output) is equally interesting.
Step 1. Position Analysis must first be complete.
Step 2. Draw the Velocity Diagram:
79
Step 4. Derive the velocity equations. Take the first time derivative
of the vector loop closure equations from position analysis, in XY
component form.
Slider-crank mechanism position equations:
r2 + r3 = x + h
First time derivative for velocity equations:
r2c2 + r3c3 = x
r2 s2 + r3 s3 = h
80
81
A = 0 when cos 3 = 0 , or
82
x 0.062
=
0.686
Both are negative, so the slider is currently traveling to the left and
the coupler link is currently rotating in the cw direction. These
results are the absolute linear and angular velocities of links 4 and 3
with respect to the fixed ground link.
83
0.6
0.4
xd (m/s) and
0.2
0
-0.2
-0.4
-0.6
-0.8
0
50
100
150
200
2 (deg)
250
300
350
84
Derivative/Integral Relationships
x (m)
0.3
0.2
0.1
xd (m/s)
50
100
150
200
250
300
350
50
100
150
200
2 (deg)
250
300
350
0.2
0
-0.2
0
The value of x at any point is the slope of the x curve at that point.
The value of x at any point is the integral of the x curve up to that
point (the value of x at any point is the area under the x curve up to
that point).
This graph is vs. 2 , but the same type of relationships hold as
for time t since 2 is constant. This is the Term Example 2 result.
85
Rotating rigid rod with a slider on it. Find the total acceleration of
point P on the slider.
86
P
L
sin
OY
VOX + V cos L sin
V P = V O +V + L =
V
V
sin
cos
+
+
OY
Only planar case is this simple; the spatial rotation case is more
complicated. The length of the rod is changing with sliding velocity
and acceleration:
87
Again, well need to use the product and chain rules over and
over in acceleration analysis derivations.
Product rule:
d
dx
dy
( xy ) = y + x
dt
dt
dt
Chain rule:
d
df dx
( f ( x(t ))) =
f is a function of x, which is a function of t.
dt
dx dt
Example:
d2
( L cos ) = ?
dt 2
88
dV P d 2 P P
=
=
AP =
2
dt
dt
89
AO
2 V
( L )
Name
Point O
Acceleration
Sliding
Acceleration
Coriolis
Acceleration
Tangential
Acceleration
Centripetal
Acceleration
XY
Components
Magnitude /
Direction
90
2
+
+
+
A
A
sin
2
V
cos
L
cos
L
sin
OY
11.660 s
or,
AP = 11.879@101.0D m/s2
XY
Components
Magnitude /
Direction
AO
Point O
Acceleration
A
Sliding
Acceleration
2 V
Coriolis
Acceleration
L
Tangential
Acceleration
( L )
Centripetal
Acceleration
91
92
93
94
95
4 3 = 0D ,180D , "
This condition is the same problem for position, velocity, and
acceleration. At this singularity, there is zero transmission angle
and Link 2 is at a joint limit!
The basic four-bar mechanism acceleration analysis problem is now
solved. Now that we know the angular unknowns, we can find the
translational acceleration of any point on the mechanism, e.g.
coupler point C:
96
3 0.213
=
6.030
Both are positive, so ccw direction. These results are the absolute
angular accelerations of links 3 and 4 with respect to the ground link.
0.676
2
Coupler point translational acceleration: AC =
m/s
0.582
97
(rad/s )
4
and
3
2
0
-2
-4
-6
0
50
100
150
200
2 (deg)
250
300
350
98
The plot below gives the translational coupler point acceleration for
all 0 D 2 360 D , for Term Example 1, open branch only.
Coupler Point Accelerations X (red) and Y (green)
0.8
0.6
2
0.4
0.2
0
-0.2
-0.4
-0.6
-0.8
0
50
100
150
200
2 (deg)
250
300
350
99
Derivative/Integral Relationships
4 =
d 4
dt
4 = 40 + 4 dt
4 =
d 4
dt
4 = 40 + 4 dt
3
2.5
(rad)
50
100
150
200
250
300
350
50
100
150
200
250
300
350
50
100
150
200
2 (deg)
250
300
350
(rad/s)
4
2
0
1
0
-1
(rad/s )
4
0
5
0
-5
0
100
Again, we will solve the Air Compressor case where the crank is
the input and the slider is the output.
Step 1. Position and Velocity Analyses must first be complete.
Step 2. Draw the Acceleration Diagram:
101
r22 s2 r33 s3 = x
r22c2 + r33c3 = 0
The first time derivative of the velocity equations is:
102
103
x 0.329
=
0.681
These results are the absolute linear and angular accelerations of links
4 and 3 with respect to the fixed ground link.
104
for all 0 D 2 360 D , for Term Example 2, right branch only. Since
2 is constant, we can plot the velocity results vs. 2 (since it is
related to time t via 2 = 2 t ).
Xdotdot (red) and Alpha3 (green)
(rad/s )
3
0.5
0
-0.5
-1
-1.5
-2
-2.5
0
50
100
150
200
2 (deg)
250
300
350
105
Derivative/Integral Relationships
x =
dx
dt
x = x 0 + xdt
x =
dx
dt
x = x 0 + xdt
x (m)
0.3
0.2
0.1
xdd (m/s )
xd (m/s)
50
100
150
200
250
300
350
50
100
150
200
250
300
350
50
100
150
200
2 (deg)
250
300
350
0.2
0
-0.2
0
0.5
0
-0.5
0
106
107
108
109
t
1
2 t
sin
t
t
2
F
F
2 ( t ) = 20 + ( 2 F 20 )
2 ( t ) =
( 2 F 20 ) 1 cos 2 t
t F
2 ( 2 F 20 ) 2 t
2 (t ) =
sin t
t F2
F
tF
2 (deg)
4 2 ( 2 F 20 )
2 t
2 (t ) =
cos
t F3
t
100
80
60
0
4
0.5
1.5
2.5
0.5
1.5
2.5
0.5
1.5
2.5
0.5
1.5
time (sec)
2.5
2
0
0
1
0
-1
0
2
0
-2
0
110
Dynamics Introduction
Chart:
Kinematics:
translational
rotational
Kinetics:
111
Isolate each rigid body and show the forces and moments acting.
This contains all the info needed to write Newtons 2nd Law and
Eulers equation.
FBD
Simplified FBD
112
External forces/moments:
Internal forces/moments:
Eulers equation:
113
DAlemberts Principle
R m AG = 0
R + FO = 0
T + r R IG = 0
T +rR+MO =0
114
2 , 3 , 4 , and
center of gravity
center of gravity
PG
IG
115
F = m AG
Translational: mass
Rotational:
MG
center of gravity
center of gravity
= IG
Mass
116
System of particles
System of particles:
117
CG calculation:
System of particles:
118
X=
=
xdm
Y=
dm
xdV
mx
b/2
m b / 2
th b / 2
xdx
=
b
/
2
m
=
th x 2
m 2
xthdx
th b 2
b2
=
=0
2m 4 4
dm
m y
ydV
h/2
ytbdy
m h / 2
tb h / 2
ydy
=
m h / 2
=
b/2
b / 2
ydm
tb y
2 h/2
m 2
h / 2
tb h 2
h2
=
=0
2m 4 4
119
I Ay = x 2 dA
x
Units: I A m 4
Mass Moment of Inertia (IG)
120
where ri is the scalar perpendicular distance from the axis to the ith
particle. With squaring, all terms will be positive, no there can be no
canceling like for CG. If first moment is balanced, second moment
will be doubled about the CG.
General rigid body:
also
I ZZ > I ZZG
121
body
3 h/2
y
b/2 2
+
I ZZG = t
x
y
dx
b / 2
3
h / 2
3
h3
b / 2 2 h h 1 h
= t
x
dx
+
b / 2 2
2
3
8
8
b / 2 2
hx
b / 2
I ZZG = t
b/2
3
h 3
h3 x
hx
+
+
dx = t
12
12
3
b / 2
h b3 b3 h3 b b
+
I ZZG = t
3 8
8 12 2 2
I ZZG =
m 2
b + h2
12
(because m = V = tbh )
122
123
where d is the scalar distance separating the axis of interest from the
axis through the CG. Notice I ZZG is a small as it can get; any I ZZ
must be greater, due to the term md 2 , which is always positive.
Parallel axis theorem example:
Rectangular rigid body:
I ZZ
b2 h2
m 2
2
= (b + h ) + m +
12
4 4
b2 b2 h2 h2
= m + + +
12 4 12 4
b2 h2
= m +
3 3
m
= (b2 + h2 )
3
124
125
Euler's Equation:
126
127
128
129
AGx = 4330 m
AGy = 2500 s 2
Snapshot Analysis (one input angle)
At = 150D , given this link, motion, and external force,
calculate F12 X , F12Y , and F S , M S for this instant (snapshot).
0
0 F12 X 8510
1
0
1
0 F12Y = 4980
F12Y = 4980 N, Nm
66.5
8510
F S = F 21 = F 12 =
N
4980
M S = = 66.5k Nm
130
(Nm)
50
0
-50
-100
-150
0
50
100
150
200
(deg)
250
300
350
131
x 10
0.5
-0.5
-1
0
50
100
150
200
(deg)
250
300
350
132
5000
-5000
0
50
100
150
200
(deg)
250
300
350
133
First, can we simplify and solve the problem link-by-link, like the
single rotating link? Count # of unknowns and # of equations:
134
F ij :
r ij :
135
Euler's Equation:
136
137
r12Y
0
0
0
0
0
0
r12 X
r32Y
r32 X
0
0
0
r43Y
r23Y
1
r23 X
r43 X
0
0
0
0
r34Y
r34 X
r14Y
r14 X
m2 AG 2 X
0 F21 X
m2 ( AG 2Y + g )
0 F21Y
1 F32 X
G 2Z 2
m3 AG 3 X FE 3 x
0 F32Y
m
A
g
F
+
0 F43 X =
) E3 y
3 ( G 3Y
I r F + r F M E3
0 F43Y
G 3Z 3 E 3 x E 3 y E 3 y E 3 x
m4 AG 4 X FE 4 x
0 F14 X
m4 ( AG 4Y + g ) FE 4 y
0 F14Y
I
r
F
r
F
M
0 2 G 4 Z 4 E 4 x E 4 y E 4 y E 4 x
E4
[ A]{v} = {b}
Coefficient matrix [A] dependent on geometry (kinematics solutions).
RHS {b} dependent on inertial terms, gravity, and given external
forces and moments.
138
{v} = [ A]1{b}
139
140
Link 3 details:
r23 X
r 23 =
=
r
23Y
r 43 = 43 X =
r43Y
AG 3 X
A G3 =
=
A
G 3Y
FP3 X
F P3 =
=
F
P3Y
R P3 X
R P3 =
=
R
P3Y
M E 3 = given
141
0.3
0.25
0.2
Y (m)
0.15
0.1
0.05
0
-0.05
-0.1
-0.1
0.1
X (m)
0.2
0.3
142
143
0
1
0
0
0
0
0
1
0
1
0
1
0
0
0
0
0
1
0
1
0
0
0
0
0
0
0
1
0
1
0
0
0
0.127 0.002 0.037 0.122
0
0
0
0
1
0
0
0
0
1
0
0
0
0
0
1
0
1
0
0
0
0
0
0.076 0.047 0.076 0.047
0 F21x 0.202
0 F21 y 0.034
1 F32 x 0
0 F32 y 8.955
0 F43 x = 4.497
0 F43 y 0.015
0 F14 x 0.638
0 F14 y 0.095
0 2 0.0233
F32 x 5.99
F32 y 10.11
{v} = F43 x = 2.96 N, Nm
F 5.61
43 y
F14 x 3.60
F14 y 5.52
2 0.43
9.80
FS =
N
4.56
M S = 1.68k Nm
144
(Nm)
0.4
0.2
0
-0.2
-0.4
0
50
100
150
200
2 (deg)
250
300
350
145
The plots below give the shaking force F S (N) and shaking
moment M S (Nm) results, respectively, for all 0 D 2 360 D . In
the force plot, the X component is red and the Y green.
Shaking Force, X (red) and Y (green)
10
-5
-10
50
100
150
200
2 (deg)
250
300
350
146
0.5
0
-0.5
-1
-1.5
-2
0
50
100
150
200
2 (deg)
250
300
350
147
148
Euler's Equation:
149
Step 5. Derive XYZ scalar equations from the vector equations and
beam these equations into matrix/vector form. Substitute the friction
constraint to eliminate one unknown (F14X); also eliminate one
equation ( M G 4 = I G 4 Z 4 ).
1
0
r12Y
0
0
0
0
r12 X
r32Y
r32 X
r23Y
r23 X
r43Y
r43 X
m2 AG 2 X
0 F21 X
m2 ( AG 2Y + g )
0 0 F21Y
IG 2 Z 2
0 1 F32 X
m3 AG 3 X FE 3 x
0 0 F32Y
m3 ( AG 3Y + g ) FE 3 y
0 0 F43 X
0 0 F43Y I G 3 Z 3 rE 3 x FE 3 y + rE 3 y FE 3 x M E 3
m4 AG 4 X FE 4 x
0 F14Y
m4 g FE 4 y
1 0 2
[ A]{v} = {b}
Coefficient matrix [A] dependent on geometry (kinematics solutions).
Always choose proper sign of to be opposite to the current x
direction. RHS {b} dependent on inertial and statics terms.
Step 6. Solve for the unknowns
Simultaneous matrix solution:
{v} = [ A]1{b}
Actually, using Gaussian elimination is more efficient and robust.
Solution to internal forces and input torque contained in the
components of {v}.
150
0.05
0
-0.05
-0.1
-0.15
-0.2
-0.25
-0.1
0.1
X (m)
0.2
0.3
151
152
0
1
0
0
0
0 0 F21 X -0.002
1
0
1
0
1
0
0
0 0 F21Y 0.199
0
1
0
1
0
0 0 F32Y -0.011
0
=
0
0
0
1
0
1
0 0 F43 X 0.398
0
-0.013 0.101 -0.013 0.101 0 0 F43Y 0.0001
0
0
0
0
0
0
0.2 0 F14Y 0.995
1
0
0
0
0
1 0 2 0.150
1
0
Snapshot Answer:
F21 X -0.935
F -0.517
21Y
F32 X -0.938
F32Y -0.318
{v} = =
(N, Nm)
F
-0.949
43
X
F43Y 0.081
F14Y 0.231
2 -0.011
0.982
FS =
(N)
0.748
M S = 0.053k (Nm)
153
2 (Nm)
0.1
0.05
0
-0.05
-0.1
0
50
100
150
200
2 (deg)
250
300
350
154
The plots below give the shaking force F S (N) and shaking
moment M S (Nm) results, respectively, for all 0 D 2 360 D . In
the force plot, the X component is red and the Y green.
Shaking Force, X (red) and Y (green)
-0.7
-0.75
-0.8
-0.85
-0.9
-0.95
-1
-1.05
0
50
100
150
200
2 (deg)
250
300
350
155
MS (Nm)
0.04
0.02
0
-0.02
-0.04
-0.06
0
50
100
150
200
2 (deg)
250
300
350
156
Cam Introduction
Chapter 8
Applications
157
Degrees of Freedom
rolling and sliding.
Function Generation
The output parameter is a continuous function of the input
parameter. With linkages, we can only satisfy a function exactly at a
finite number of points: 3, 4, or 5, usually. For example, a 4-bar
linkage:
4 = f ( 2 )
S = f ( )
= f ( )
158
159
Which means:
160
S V A J Diagrams
Examples
8-1 (terrible)
8-2 (bad)
8-3 (acceptable)
161
Define each separate function so the value is zero at the initial angle,
which is zero. Then to put the whole thing together, just shift the
and S axes.
Match S:
Match V:
Match A:
162
163
Example 1 Plots
164
Example 2
1
f1 (1 ) = L1 1 sin 1 f 2 ( 2 ) = V0 2
1
1
V:
A:
J:
Match A at junction B:
165
Half Cycloid
1
J (m/deg ) A (m/deg2)
0
0
0.05
V (m/deg)
S (m)
0
-4
0x 10
20
40
60
80
20
40
60
80
20
40
60
80
20
40
60
80
0
-5
0x 10
2
0
-2
0
(deg)
166
Example 3
S:
1
21
f1 (1 ) = L1 1
sin
1
1 2
V:
v1 (1 ) =
L1
21
1
cos
1
1
v2 ( 2 ) = 0
A:
a1 (1 ) =
2 L1 21
sin
2
1
1
a2 ( 2 ) = 0
J:
4 2 L1
21
j1 (1 ) =
cos
13
1
f 2 ( 2 ) = 0
j2 ( 2 ) = 0
167
Full Cycloid
1
J (m/deg ) A (m/deg )
0
0
0.05
V (m/deg)
S (m)
0
-3
0x 10
2
20
40
60
80
20
40
60
80
20
40
60
80
20
40
60
80
0
-2
-4
0x 10
2
0
-2
0
(deg)
168
169
As seen in the figure, the radius R out to the flat-faced follower (not
to the point of contact (x,y)) is:
Notice that:
170
171
dx
d
f
= C + f ( ) +
sin
2
d
d
d 2 f
dy
= C + f ( ) +
cos
2
d
d
dx dy
=
= 0 simultaneously only when:
d d
d2 f
=0
C + f ( ) +
2
d
172
50
0
0
50
100
150
200
250
300
350
50
100
150
200
250
300
350
50
100
150
200
250
300
350
50
100
150
200
250
300
350
-50
0
100
0
-100
0
500
J
50
0
-500
0
173
150
Y (mm)
100
50
-50
-100
-150
-100
-50
0
X (mm)
50
100
174
Let us check the cusp avoidance plot. To avoid cusps in this cam,
we require that:
C + S ( ) + A( ) = C + f ( ) +
d2 f
d
>0
As seen in the plot below, this inequality is satisfied for the entire
range of motion, so this cam design is acceptable.
250
C+S+A
200
150
100
50
0
0
50
100
150
200
250
300
350
175
Gear Introduction
Gear Classification
176
Herringbone Gears
Bevel gears
Gear Train
177
Automotive Differential
Harmonic Gearing
178
Harmonic Gearing
Taken from:
http://www.roymech.co.uk/
179
Gear Ratio
DOF:
A gear joint is like a cam joint; two-dof, teeth in contact allow rolling
and sliding.
Gear 1 is input, gear 2 is output. Like two cylinders rolling without
sliding. Arc lengths are equal.
180
181
Summary:
182
If n > 1: 2 < 1
2 > 1
If n < 1 : 2 > 1
2 < 1
If n = 1: 2 = 1
2 = 1
183
1. Gear toy
Gear Ratios:
n=
Schwinn
Sierra
Rear
14
16
18
22
26
30
N OUT N R F R
=
=
=
N IN
NF R F
48
0.29
0.33
0.38
0.46
0.54
0.62
Front
38
0.37
0.42
0.47
0.58
0.68
0.79
28
0.50
0.57
0.64
0.78
0.93
1.07
184
Cannondale
M400
Rear
BikeE
11
12
14
16
18
21
24
28
32
22
0.50
0.54
0.64
0.73
0.82
0.95
1.09
1.27
1.45
1.2913:1
0.25
0.30
0.34
0.41
0.48
0.55
0.64
Rear hub
1:1
0.32
0.38
0.44
0.53
0.62
0.70
0.82
0.7:1
0.46
0.55
0.63
0.76
0.88
1.01
1.18
Front 34
recumbent
Rear
44
0.25
0.27
0.32
0.36
0.41
0.48
0.54
0.64
0.73
Front
32
0.34
0.38
0.44
0.50
0.56
0.66
0.75
0.88
1.00
11
13
15
18
21
24
28
185
IN
=
OUT
Example:
186
We could have done the same with pitch radii instead of number of
teeth because they are in direct proportion:
So, the intermediate gears are idlers. Number of teeth effect cancels
out, but do change direction! We should have included sign:
187
Different case:
Mesh any number of spur gears, where the driving and driven
gears are distinct, because each pair is rigidly attached to the same
shaft. See the figure. Again, let us calculate the overall gear ratio.
nGT =
IN
OUT
Example:
But now the gears rigidly attached to the same shaft have the same
angular velocity ratio, so:
188
General formula:
189
190
Involute Function
191
Base Circle:
Pitch Circle:
Pitch Point:
Pressure Angle:
Angle between the common normal (also
called axis of transmission) of the two meshing teeth and the velocity
of the pitch point (tangent to both pitch circles). Point of contact
slides along this line. Similar angle is defined for cams and
followers.
Base circle, pitch circle, pressure angle relationship:
192
193
194
Backlash
195
Gear Standardization
Module:
196