Dynamics 2008

Dynamics
Text : Dynamics by B. H. Tongue

Professor Kwon Son (kson@pusan.ac.kr)

Biomechanics Lab,
Pusan National University (http://bio.me.pusan.ac.kr)

Biomechanics Laboratory, Pusan National University

 생체역학 연구실

실험실 소개

Biomechanics – Motion analysis,

Structure analysis,
Dynamic analysis,
Ergonomic study,
Occupant safety analysis

보유장비

• 3차원 운동측정시스템 • 근전도계

• 발반력 측정장치 • ANSYS, ADAMS, MADYMO
• 체압측정장치

Biomechanics Laboratory, Pusan National University

 주요 연구 내용

• 청소기의 동역학적 운동분석

Real Model Motion capture 3D Modeling

• 정상인의 보행모델 분석

Real human gait Stick figure of gait

Chaotic analysis of normal walking

Biomechanics Laboratory, Pusan National University

 • 치아 수복에서의 응력 해석

A B

Modeling of tooth elements Tooth model FEM analysis

• 차량 시뮬레이션 및 가상 환경 구축 • 전십자 인대 재활 진단 시스템 개발

• 생체역학적 척추질환 치료기구 개발
• 차량 충돌시 인체 거동 해석
• 인체의 근골격계 모델 개발
Real-time Vehicle and human Real-time graphic
control body dynamics processing
• 신발 충격흡수 부품 개발

Driver

Biomechanics Laboratory, Pusan National University

Objective of the lecture

-Learn how to specify motions of objects

-Learn the relation between motion and force

Biomechanics Laboratory, Pusan National University

Contents of the lecture (1/2)

- Ch 1. Introduction
Historical backgrounds of dynamics, Units, Basic Concepts

- Ch 2. Kinematics of Particles (질점의 운동학)

- Straight–line motion
- Curvilinear motion, 3 different coordinates for 2D motion
- Relative motion

- Ch 3. Kinetics of Particles(질점의 운동역학)

- Newton’s law F=ma, 3 different coordinates for 2D motion
- Impulse and momentum, linear & angular
- Impact

- Ch 4. Work & Energy (질점의 일과 에너지)

- Work & energy, kinetic energy, potential energy

- Ch 5. Multiparticle System (질점계 운동역학)

- Mass center, force balance, momentum, energy
Biomechanics Laboratory, Pusan National University
Contents of the lecture (2/2)

- Ch 6. Kinematics of rigid bodies in 2D (강체 운동학)

- Instantaneous center, velocity, acceleration,
- Relative motion

- Ch 7. Kinetics of rigid bodies in 2D (강체 운동역학)

- Moment of inertia,
- Translation, rotation, general motion

- Ch 8. Kinematics of rigid bodies in 3D (3차원 강체운동)

- Moments of inertia, Equations of motion

- Ch 9. Vibratory Motion (진동)

- Multi-body dynamics, Flexible multi-body dynamics, robotics
- Vibration, control

Biomechanics Laboratory, Pusan National University

Evaluation and Credit

Evaluation & Credit

1) 1st quiz (20%)
- 60 minutes exam with 4 problems
3) Mid-term exam (25%)
- 60 minutes exam with 4 problems
3) 2nd quiz (20%)
- 60 minutes exam with 4 problems
4) Final exam (35%)
- 75 minutes exam with 5-6 problems

Lecture note for students

- materials for lecture at the website (http://bio.me.pusan.ac.kr)

- Professor Son’s office (RIMT building #421)
- Teaching assistant at Biolab (RIMT building #309)

Biomechanics Laboratory, Pusan National University

1. 1 History of Dynamics

【Objective of this chapter】

- History of dynamics
- Basic Concepts for this lecture

▶ Dynamics ?
Engineering Mechanics ⇒ Statics and Dynamics
Statics(靜力學) : Forces to maintain an equilibrium
Dynamics(動力學) ⇒ Kinematics and Kinetics
Kinematics(運動學) : motion as a function of time
(position, velocity, acceleration)
Kinetics(運動力學) : Relation between force and motion

▶ History of Dynamics ?
Galileo Galilei (1564-1642)
Isaac Newton (1642-1727)
Lagrange (1736-1818)
Einstein (1879-1955)

Biomechanics Laboratory, Pusan National University

1.2 Approach to solve problems

1) What you are being asked to find?

2) What information is given?

3) Draw a picture
- FBD(Free Body Diagram)

4) Assumptions

5) Formulate equations
- Basic Concepts for this lecture

6) Solve

7) Check your result

Biomechanics Laboratory, Pusan National University

1.3 Units and Symbols

▶ Units and Dimensions

Unit(單位) : Meter for Length [L]
Kilogram for Mass [M]
Second for Time [T]
⇒ M-K-S Unit or SI (International Standard) Unit ,
Dimension(次元) : represent with M, L, T
⇒ Acceleration a = L T –2
Newton [N] = M L T -2

▶ SI versus lb-ft
Mass(質量) : Kgm or lbm
Weight(중량, 무게) : Mass m × gravity g, 70 kgf = 154 lbf

▶ Prefixes
10+12, 10+9, 10+6, 10+3, 10+2, 10+1, 10-1, 10-2, 10-3, 10-6, 10-9, 10-12
tera giga mega kilo hecto deka deci centi mili micro nano pico
경(+16), 조+12 , 억 +8, 만+4, 천+3 백 십 분 리 호 미-6 진-9 막-12

Biomechanics Laboratory, Pusan National University

Biomechanics Laboratory, Pusan National University
Biomechanics Laboratory, Pusan National University
1.3 Units and Symbols (continued)

▶ Vector and Scalar

Scalar : 크기만 있고 방향은 없는 물리 량
- 거리(distance), 속력(speed)

Vector : 크기 (magnitude)와 방향(direction) 모두 있는 것

- 위치(position), 속도(velocity)
dx d 2x
vx
 a  x 
dt dt 2

▶ Velocity(속도) and Acceleration(가속도)

Velocity (속도) : 시간에 따른 위치의 변화량
v 로 표시 
단위 [m/sec] , 차원 [ ]

Acceleration (가속도) : 시간에 따른 속도의 변화

a로 표시
단위 [ ], 차원 L T –2
Biomechanics Laboratory, Pusan National University
 Spring-restrained mass

Biomechanics Laboratory, Pusan National University

 Three forces acting on a body

Biomechanics Laboratory, Pusan National University

 Directed magnitudes of F1

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 Force on box

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 Sliding block

Biomechanics Laboratory, Pusan National University

1.4 Gravitation

▶ N : lb : Kg
Force : Mass × acceleration a
Mass (1kg)× acceleration a (1 m/s 2) = 1 N
Mass (1kg)× acceleration g (9.81 m/s 2) = 1 kgf
Mass (1lb)× acceleration g (32.2 ft/s 2) = 1 lbf
m=1kg m=1kg m=1lb=0.453kg

2 2 2
1 m/s 9.81m/s 32.2ft/s

Force: 1N Force : 9.8N Force: 1 lb f

= (1 kg)(9.81m/s 2 ) = (1 lb)(32.2 ft/s 2)
 1 kg f  (32.2 lb)(1 ft/s 2)
 (1 slug)(1 ft/s)
2

(a) (b) (c)

Biomechanics Laboratory, Pusan National University
 1.4 The Pieces of the Puzzle

Biomechanics Laboratory, Pusan National University

 Chapter 2: Tracking the motion of a car

Biomechanics Laboratory, Pusan National University

 Chapter 3: Newton’s second law
applied to a lumped-mass car model

Biomechanics Laboratory, Pusan National University

 Chapter 4: Rock falling off a cliff

Biomechanics Laboratory, Pusan National University

 Chapter 5: Colliding billiard balls

Biomechanics Laboratory, Pusan National University

 Chapter 6: Kinematics of a rolling
wheel

Biomechanics Laboratory, Pusan National University

 Chapter 7: Forces and moments
affecting a driven wheel

Biomechanics Laboratory, Pusan National University

 Chapter 8: Robotic arm

Biomechanics Laboratory, Pusan National University

 Chapter 9: Half-car model

Biomechanics Laboratory, Pusan National University