MIT2 72s09 Lec05 PDF

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2.72 Elements of Mechanical Design

Spring 2009
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2.72
Elements of
Mechanical Design
Lecture 05: Structures
Schedule and reading assignment

Quizzes
Quiz – None
Topics
Finish fatigue
Finish HTMs in structures
Reading assignment
None
Quiz next time on HTMs
© Martin Culpepper, All rights reserved 2

Matrix Review
What is a Matrix?
A matrix is an easy way to ⎡ b1 ⎤

represent a system of linear
⎢b ⎥
equations
Linear algebra is the set of
⎣ 2⎦
rules that governs matrix “Vector”
and vector operations
⎡ a1 a2
⎤
⎢a ⎥
⎣ 3 a4
⎦
“Matrix”

Matrix Addition/Subtraction
You can only add or subtract matrices of the same dimension
Operations are carried out entry by entry
⎡ a1 a2 ⎤ ⎡ b1 b2 ⎤ ⎡ a1 + b1 a2 + b2 ⎤
⎢a ⎥ +⎢ ⎥ =⎢ ⎥
⎣ 3 a4 ⎦ ⎣b3 b4 ⎦ ⎣a3 + b3 a4 + b4 ⎦
(2 x 2) (2 x 2) (2 x 2)
⎡ a1 a2 ⎤ ⎡b1 b2 ⎤ ⎡ a1 − b1 a2 − b2 ⎤
⎢a ⎥ −⎢ ⎥ =⎢ ⎥
⎣
3 a4 ⎦
⎣
b3 b4 ⎦ ⎣
a3 −
b3 a4 − b4 ⎦
(2 x 2) (2 x 2) (2 x 2)

Matrix Multiplication
An m x n matrix times an n x p matrix produces an m x p matrix
⎡ a1 a2 ⎤ ⎡ b1 b2 ⎤ ⎡ a1b1 + a2b3 a1b2 + a2b4 ⎤

⎢a ⎥ ⎢ ⎥ =⎢ ⎥
⎣
3 a4 ⎦
⎣b3 b4 ⎦
⎣
a3b1 + a4b3 a3b2 + a4b4 ⎦
(2 x 2) (2 x 2)
(2 x 2)

Matrix Properties
Notation: A, B, C = matrix , c = scalar

Cumulative Law: A+B=B+A
Distributive Law: c(A + B) = cA + cB
C(A + B) = CA + CB
Associative Law: A + (B – C) = (A + B) – C
A(BC) = (AB)C
NOTE that AB does not equal BA !!!!!!!

Matrix Division
To divide in linear algebra we multiply each side by an inverse
matrix:
AB = C
A-1AB = A-1C
B = A-1C
Inverse matrix properties:

A-1A = AA-1 = I (The identity matrix)
(AB)-1 = B-1A-1

Structures
Machines structures
Structure = backbone = affects everything
Satisfies a multiplicity of needs

Enforcing geometric relationships (position/orientation)
Material flow and access
Reference frame
Requires first consideration and serves to link modules:
Joints (bolted/welded/etc…)
Bearings
Image removed due to copyright restrictions. Please see

Shafts http://www.clarkmachinetools.com/2003_1.jpg
Parts
Tools
Sensors
Actuators

Key issues with structural design
Machine concepts
Topology Image removed due to copyright restrictions. Please see
http://www.fortune-cnc.com/uploads/images/1600ge_series.jpg
Material properties
Principles
Thermomechanical
Elastomechanics
Kinematics
Vibration
Key tools that help

Stick figures
Parametric system/part error model
Visualization of the:
Load path
Vibration modes
Thermal growth
Modeling: stick figures
Image removed due to copyright restrictions. Please see

http://americanmachinetools.com/images/diagram-lathe.jpg
1 3
2
1. Stick figures These types of models
are idealizations of the
2. Beam bending physical behavior. The
designer must KNOW:
3. System bend.
(a) if beam bending
assumptions are valid
(b) how to interpret

and use the results o
this type of these
models
1 3
x
z
2

Transformation
Matrices
Translational
TranslationalTransformation
TransformationMatrix
Matrix
Y
P=(A+L
P=(A, B)1, B+L2)=(A’, B’)
B
Y’
L1
X
A
L2
A’ 1 0 L1 A
X’ B’ = 0 1 B
L2
1 0 0 1 1

Translational Transformation Matrix
General 2D transformation matrix
1 0 ΔX
0 1 ΔY
0 0 1
1 0 L1
0 1 L2
0 0 1

Rotational
RotationalTransformation
Matrix
Y
Y’ P=(A, B)
P=(A’, B’) B’
X’
Ө B
Ө
Ө
X
A’

Rotational
Matrix
Y’ P=(A’, B’)
X’
Ө B
Ө
Ө
X
A’ = A cosӨ + B sin Ө

Rotational Transformation Matrix
Y’ P=(A’, B’)
X’
Ө B
Ө
Ө
X
A’ = A cosӨ + B sin Ө
B’ = -A sinӨ + B cos Ө

Rotational
Matrix
Y
Y’ P=(A’, B’) B’
X’
Ө B
Ө
X
A’
A’ cosӨ sinӨ 0 A
A
B’ =
-sinӨ cosӨ 0 B
A’ = A cosӨ + B sin Ө 1
1 0 0 1
B’ = -A sinӨ + B cos Ө

Rotational
Matrix
Y
Y’ (+Ө) Counter Clockwise
X’ cosӨ sinӨ 0
General 2D rotational
matrix: Ө
-sinӨ cosӨ 0
Ө 0 0 1
X
Y Y’
(-Ө) Clockwise
Ө cosӨ -sinӨ 0
sinӨsinӨ
cosӨ cosӨ
0 0
0 0 0 1
-sinӨ cosӨ
X
Ө
0 0 1
X’
Homogeneous Transformation Matrix
General 2D HTM translational and rotational matrix:
cosӨ sinӨ Δx
-sinӨ cosӨ Δy
0 0 1

HTM Applications
Simple
SimpleBeam
BeamExample
Example:
Y’ Y
B A
X’ X
F
L

Simple
SimpleBeam
BeamExample
Example:
Y
A X Ө
Y’
B D
X’ F

Useful
ForceForce-deflection Equations
Deflection Equations
d
FL
d=
EA
F
d FL3 FL2
Ө d= Ө=
3EI 2EI
F
d
Ө ML2 ML
d= Ө=
2EI EI
M

Simple
SimpleBeam
BeamExample
Example:
Y
A X Ө
Y’
B D
X’
L
B A
L cosӨ -sinӨ L 0 FL3
D=
H
B D =
A = sinӨ cosӨ D 0 3EI
1 0 0 1 1 FL2
Ө=
2EI

Drill Press
Simple Example
Beam Example:
Find the HTM from a to b:
L b
c b
D a
H a
F
F
1 0 0
d
L e
Ha =
b 0 1 -(D-δ)
0 0 1
Cross-Sectional Area of large sections = A
Cross-Sectional Area of Drill Bit = Ad
Young’s Modulus of Material = E
Useful
d
FL
d=
EA
F
d FL3 FL2
Ө d= Ө=
3EI 2EI
F
d
Ө ML2 ML
d= Ө=
2EI EI
M

Drill Press
Simple Example
Beam Example:
Find the HTM from a to b:
L b
c b
D a
H a
F
F
1 0 0
d
L e
Ha =
b 0 1 -(D-δ)
0 0 1
Cross-Sectional Area of Drill Bit = Ad δ=
FD
EAd
Drill Press
Simple Example
Beam Example:
Find the HTM from b to c:
L
c b
c b
D
H a F
F
cosӨ -sinӨ L
d
L e c Hb = sinӨ cosӨ δ
0 0 1

Useful
d
FL
d=
EA
F
d FL3 FL2
Ө d= Ө=
3EI 2EI
F
d
Ө ML2 ML
d= Ө=
2EI EI
M

Drill Press
Simple Example
Beam Example:
Find the HTM from b to c:
L
c b
c b
D
H a F
F
cosӨ -sinӨ L
d
L e c Hb = sinӨ cosӨ δ
0 0 1

Cross-Sectional Area of Drill Bit = Ad δ=
FL3
3EI
Ө=
FL2
2EI
Drill Press
Simple Example
Beam Example:
Find the HTM from c to d:
L F
c b c
D FL
H a
d
L e d
cosӨ -sinӨ -δ1

Hc =
d
sinӨ cosӨ H+δ2
0 0 1
Useful
d
FL
d=
EA
F
d FL3 FL2
Ө d= Ө=
3EI 2EI
F
d
Ө ML2 ML
d= Ө=
2EI EI
M

Drill Press
Simple Example
Beam Example:
Find the HTM from c to d:
L F
c b c
D FL
H a
d
L e d
cosӨ -sinӨ -δ1

Hc =
d
sinӨ cosӨ H+δ2
0 0 1

FLH FLH2 FH
Ө= δ1 = δ2 =
EI 2EI EA
Drill Press
Simple Example
Beam Example:
Find the HTM from d to e:
L
c b
D d F e
H a
F FL
d
L e
1 0 -L
Hd =
e 0 1 0
Cross-Sectional Area of large sections = A 0 0 1
Drill Press
Simple Example
Beam Example:
Find the HTM from a to e:
L
c b eH a = e Hd d Hc c Hb b Ha
D
H a
Find the vector aVe from e to a:
F
0
d
L e
aV
e = Ha
e 0
1
Method
Simplefor building
Beam system’s HTM
Example:
• Identify key nodes around the system’s

structural loop
• Create HTMs for each member between each
node
• Multiply the member’s HTMs in the correct
order

More on HTMs
3D HTMs
⎡1 0 0 X
⎤
For x-axis ⎢0 cos θ sin θ x Y ⎥⎥
rotation ⎢ x
⎢0 − sin θ x cos θ x Z
⎥
⎢ ⎥
⎣0 0 0 1⎦ For small Ө:
cos(Ө)~1 & sin(Ө)~ Ө
⎡cos θ y 0 − sin θ y X⎤
For y-axis ⎢ 0 1 0 Y ⎥⎥
rotation ⎢
⎢ sin θ y 0 cos θ y Z⎥
⎢ ⎥
⎣ 0 0 0 1⎦
⎡ cos θ z sin θ z 0 X⎤
For z-axis ⎢− sin θ cos θ z 0 Y ⎥⎥
rotation ⎢ z
⎢ 0 0 1 Z⎥
⎢ ⎥
⎣ 0 0 0 1⎦
HTM Rotation
•Remember order of multiplication matters:
180 90
deg deg
flip
right
90 180
deg deg
right flip
•To combine a translation and rotation, again multiply the HTM matrices
together
•Note that the order of the rotation and translation matrices does matter, so
makes sure the answer makes sense!!!

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MIT OpenCourseWare

2.72 Elements of Mechanical Design

Lecture 05: Structures

Schedule and reading assignment

© Martin Culpepper, All rights reserved 2

A matrix is an easy way to ⎡ b1 ⎤

© Martin Culpepper, All rights reserved 4

© Martin Culpepper, All rights reserved 5

⎡ a1 a2 ⎤ ⎡ b1 b2 ⎤ ⎡ a1b1 + a2b3 a1b2 + a2b4 ⎤

© Martin Culpepper, All rights reserved 6

Notation: A, B, C = matrix , c = scalar

NOTE that AB does not equal BA !!!!!!!

© Martin Culpepper, All rights reserved 7

Inverse matrix properties:

© Martin Culpepper, All rights reserved 8

Satisfies a multiplicity of needs

 Material flow and access

Requires first consideration and serves to link modules:

Image removed due to copyright restrictions. Please see

© Martin Culpepper, All rights reserved 10

Key tools that help

 Parametric system/part error model

Image removed due to copyright restrictions. Please see

(b) how to interpret

© Martin Culpepper, All rights reserved 14

© Martin Culpepper, All rights reserved 16

General 2D transformation matrix

© Martin Culpepper, All rights reserved 17

© Martin Culpepper, All rights reserved 18

© Martin Culpepper, All rights reserved 19

© Martin Culpepper, All rights reserved 20

© Martin Culpepper, All rights reserved 21

General 2D HTM translational and rotational matrix:

© Martin Culpepper, All rights reserved 23

© Martin Culpepper, All rights reserved 25

© Martin Culpepper, All rights reserved 26

© Martin Culpepper, All rights reserved 27

© Martin Culpepper, All rights reserved 28

© Martin Culpepper, All rights reserved 30

Cross-Sectional Area of large sections = A

© Martin Culpepper, All rights reserved 33

Cross-Sectional Area of large sections = A

cosӨ -sinӨ -δ1

Cross-Sectional Area of large sections = A

© Martin Culpepper, All rights reserved 36

cosӨ -sinӨ -δ1

Cross-Sectional Area of large sections = A

Young’s Modulus of Material = E

• Identify key nodes around the system’s

© Martin Culpepper, All rights reserved 40

© Martin Culpepper, All rights reserved 43

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Material flow and access

Parametric system/part error model