MEC 401

Advances in Robotics Lecture 3

By Dr.A Chandrashekhar
Department of Mechatronics
Modeling of Mechanical & Electrical System
 Modeling of Mechanical System
• If the dynamic behavior of a physical system can be
represented by an equation, or a set of equation, this is
referred to as the mathematical model of the system.
Such models can be constructed from knowledge of
the physical characteristics of the system, i.e. mass for
a mechanical system or resistance for an electrical
system.
• Alternatively, a mathematical model may be
determined by experimentation, by measuring how the
system output responds to known inputs.
 Mathematical Models
• Think how systems behave with time when subject
to some disturbances.
• In order to understand the behavior of systems,
mathematical models are required.
• Mathematical models are equations which describe
the relationship between the input and output of a
system.
• The basis for any mathematical model is provided
by the fundamental physical laws that govern the
behavior of the system.
 Building Blocks
• Systems can be made up from a range of building blocks.
• Each building block is considered to have a single
property or function.
• Example: an electric circuit system which is made up from
blocks which represent the behaviour of resistance,
capacitance, and inductor, respectively.
• By combining these building blocks a variety of electrical
circuit systems can be built up and the overall input-
output relationship can be obtained.
• A system built in this way is called a lumped parameter
system.
Stiffness in mechanical systems
Damping in mechanical systems
Mass in mechanical systems
 Elements, Rules and Nomenclature
• Three Basic Mechanical Elements are:
• Spring (elastic) element
• Damper (frictional) element
• Mass (inertia) element

When modeling translational and rotational systems it is common to break

the system into parts. These parts are then described with Free Body
Diagrams (FBDs). Spring, damper and mass are passive (non-energy
producing) devices. Driving Inputs will force and motion sources which
cause elements to respond. Each of the elements has one of two possible
energy behaviors:
– stores all the energy supplied to it
– dissipates all energy into heat by some kind of “frictional” effect
• Spring stores energy as potential energy
• Mass stores energy as kinetic energy
• Damper dissipates energy into heat

• Dynamic Response of each element is important for

– step response
– frequency response
Figure 1: Mass-Spring-Damper: A basic mechanical system that consists of a rigid body
that can be translate in the z-direction is shown in Figure 3.57. The system is modeled
using a mass, a spring and a damper and a force, F(t) is applied.
Mechanical Dissipative Elements
 Mechanical Potential Energy Storage
Elements (Integral Form)

Example of potential energy

storing element in a cantilevered
beam with translation and
rotational end connections.
Mechanical Kinetic Energy Storage
Elements (Integral Form)
Mass moments of inertia for some
common bodies
Electrical System Building Blocks
• The basic building blocks of electrical systems are
resistance, inductance and capacitance.

Resistor : v = iR; P = i R
2

1 1
Inductor : i =  vdt; E= Li 2
L 2
dv 1
Capacitor : i = C ; E= Cv 2
dt 2
 Resistance, R (ohm)

Appied voltage v(t) i(t)

Current i(t)
v(t) = Ri(t)
v(t) R

1
i(t) = v(t)
R
 Inductance, L (H)
Appied voltage v(t)
Current i(t) i(t)

di(t)
v(t) = L v(t) L
dt
1 t
i(t) =  v(t)dt
L t0
 Capacitance, C (F)

Appied voltage v(t)

i(t)
Current i(t)
t
1
v(t) =  i(t)dt v(t) C

t0
C
dv(t)
i(t) = C
dt
For a series RLC circuit, find the characteristic equation and define the
analytical relationships between the characteristic roots and circuitry
parameters.
d 2i R di 1 i 1 dva
+ + =
dt 2 L dt LC L dt
2 R 1
s + s+ =0
L LC
The characteri stic roots are
2
R  R  1
s1 = − − −
2L  2L  LC
2
R  R  1
s2 = − + −
2L  2L  LC
The Transfer Function of Linear Systems
V2(s) R2 R2
V1(s) R R1 + R2
R2 
R max

V2(s) (
ks  1(s) −  2(s) )
V2(s) kserro(rs)

Vbattery
ks
 ma x
 Mixed Systems
• Most systems in mechatronics are of the mixed type,
e.g., electromechanical, hydro mechanical, etc
• Each subsystem within a mixed system can be
modeled as single discipline system first
• Power transformation among various subsystems are
used to integrate them into the entire system
• Overall mathematical model may be assembled into a
system of equations, or a transfer function
 Electro-Mechanical Example
Power Transformation:
Ra La

Torque-Current: Tmotor = K t i a B
ia
Voltage-Speed: u dc
eb = K b ω


where Kt: torque constant, Kb: velocity constant For an ideal motor
Kt = K b
Combing previous equations results in the following mathematical model:

 di a
La + Raia + K b  = u
 dt
Jω + Bω -K t i a = 0
 Transfer Function of
Electromechanical Example
Taking Laplace transform of the system’sdifferential
equations with zero initial conditions gives:
Ra La
(La s + R a )I a (s) + K b (s) = U (s) B
 ia
(Js + B)(s)- K t I a (s) = 0 u Kt


Eliminating Ia yields the input-output transfer

function
Ω(s) Kt
=
U(s) LaJs 2 + (JR a + BLa )+ BR a + KtK b
 Electrical Analog
• Systems that can be represented by the same
mathematical model but that are different physically
are called analogous systems. Thus analogous systems
are described by the same differential or integral
differential equations or set of equations.
• The concept of analogous systems is very useful in
practice for the following reasons.
– The solution of the equation describing one physical system
can be directly applied to analogous systems in any other
field.
– Since one type of system may be easier to handle
experimentally than another, instead of building and
studying a mechanical system (or hydraulic system or
pneumatic system), we can build and study its electrical
analog, for electrical or electronic systems are, in general,
much easier to deal with experimentally.
This section presents analogies between
mechanical and electrical systems. The concept of
analogous systems, however, is applicable to
other kinds of systems, and analogies among
mechanical, electrical, hydraulic, pneumatic,
thermal, and other systems may be established.
• Mechanical – Electrical Analogies: Mechanical
system can be studied through the use of their
electrical analogs, which may be more easily
constructed than models of the corresponding
mechanical systems. There are two electrical
analogies for mechanical systems: the force – voltage
analogy and force-current analogy.
 Modelling a simple Translational System
• Example-1: Consider a simple horizontal spring-mass system on a
frictionless surface, as shown in figure below.

or

35
 Exampl
•
e-2
Consider the following system (friction is negligible)

k
x
F
M

• Free Body Diagram

fk
M fM
F

• Where f k and f M are force applied by the spring and

inertial force respectively.
36
 Example-2
fk
M fM
F

F = fk + f M
• Then the differential equation of the system is:

• Taking the Laplace Transform of both sides and ignoring

initial conditions we get

F ( s ) = Ms 2 X ( s ) + kX ( s )
37
 Example-2
F ( s ) = M s 2 X ( s ) + kX ( s )
• The transfer function of the system is

X (s) 1
=
F (s) Ms 2 + k

• if
M = 1000kg
k = 2000Nm − 1

X (s) 0.001
=
F (s) s2 + 2
38
 Example-2
X (s) 0.001
=
F (s) s2 + 2

• The pole-zero map of the system is

39
 Example-3
• Consider the following system

k
x
F
M

C
• Free Body Diagram
fk fC
M fM
F

F = fk + f M + fC
40
 Example-3
Differential equation of the system is:

F = Mx + Cx + kx
Taking the Laplace Transform of both sides and ignoring
Initial conditions we get

F ( s ) = Ms 2 X (s) + C s X ( s ) + kX (s)

X (s) 1
=
F (s) Ms 2 + Cs + k

41
 Example-3
X (s) 1
=
F (s) Ms 2 + Cs + k

• if
M = 1000kg
k = 2000Nm − 1
C = 1000N / ms −1

X (s) 0.001
=
F (s) s 2 + s + 1000
42
 Example-4
• Consider the following system

• Free Body Diagram (same as example-3)

fk fB
M fM X ( s ) 1
F =
F (s) Ms 2 + Bs + k
F = fk + fM + fB
43
 Example-5
• Consider the following system
x2

x1 k B
F M

• Mechanical Network
x1 k x2

F ↑ M B

44
 Example-5
• Mechanical Network

x1 k x2

F ↑ M B

At node x1

F = k ( x1 − x 2 )
At node x2

0 = k ( x 2 − x 1 ) + Mx 2 + Bx2
45
 Example-6
• Find the transfer function X2(s)/F(s) of the following system.

M1 M2
B
 Example-7
x1 x2

k B3 B4
M1 M2
f (t )

B1 B2

x1 B3 x2

f (t ) ↑ k M1 B1 B2 M2 B4

47
 Example-8
• Find the transfer function of the mechanical translational
system given in Figure-1.
Free Body Diagram

fk fB

Figure-1

f (t ) fM

X (s) 1
f (t ) = f k + f M + f B =
F (s) Ms 2 + Bs + k
48
 Example-9
• Restaurant plate dispenser

49
 Example-10
• Find the transfer function X2(s)/F(s) of the following system.

Free Body Diagram

fk f fB fk fB
1 k2 1

M2 M1
k2 fM fM
F(t ) 2 1

F(t) = f k + f k + f M + f B
1 2 2

0 = f k1 + f M 1 + f B
50
 Example-11

x2 x3
x1
k1 B3 B4

u(t ) B1 M1 k2 M2 k3

B2 B5

51
Example-12: Automobile Suspension

52
Automobile Suspension

53
 Automobile Suspension

m + b(x o− x i) + k(x o − xi ) = (e q .1)

x o 0
m x o + bx o + kxo = eq.2
bx i+ kxi
Taking Laplace Transform of the equation (2)

ms2 X o (s) + bsXo (s) + kX o (s) = bsXi (s) + kX i (s)

X o (s) bs + k
=
X i (s) ms 2 + bs +k
54
 Example-13: Train Suspension

Car Body
Bogie-2
Bogie-1
Secondary

Suspension
Bogie
Frame
Primary
Wheelsets
Suspension

55
Example: Train Suspension

56
 Part-I

ROTATIONAL MECHANICAL SYSTEMS

57
 Example-1

B1
1 k1 2 3 k2
T J1 J2

1 k1 2 B1 3

T ↑ J1 J2 k2
 Example-2

1 k1 2 B2
3 B4
T J1 J2

B1 B3

1 k1 2 B2 3

T ↑ J1 B1 B3 J2 B4
 Example-3

1
k1 T
2
k2
J1 J2
B2
Example-4
 Part-III

MECHANICAL LINKAGES

62
 Gear
• Gear is a toothed machine part, such
as a wheel or cylinder, that meshes
with another toothed part to
transmit motion or to change speed
or direction.

63
 Fundamental Properties
• The two gears turn in opposite directions: one clockwise and
the other counterclockwise.

• Two gears revolve at different speeds when number of teeth on

each gear are different.
 Gearing Up and Down
• Gearing up is able to convert torque to
velocity.
• The more velocity gained, the more torque
sacrifice.
• The ratio is exactly the same: if you get three
times your original angular velocity, you
reduce the resulting torque to one third.
• This conversion is symmetric: we can also
convert velocity to torque at the same ratio.
• The price of the conversion is power loss due
to friction.
 Why Gearing is necessary?

• A typical DC motor operates at speeds that are far too

high to be useful, and at torques that are far too low.

• Gear reduction is the standard method by which a

motor is made useful.

66
Gear Trains

67
 Gear Ratio
• You can calculate the gear ratio by using
the number of teeth of the driver
divided by the number of teeth of the
follower.

• We gear up when we increase velocity Driver

and decrease torque.
Follower
Ratio: 3:1

• We gear down when we increase torque

and reduce velocity.
Ratio: 1:3

Gear Ratio = # teeth input gear / # teeth output gear

= torque in / torque out = speed out / speed in
 Example of Gear Trains
• A most commonly used example of gear trains is the gears of
an automobile.

69
 Mathematical Modelling of Gear Trains
• Gears increase or reduce angular velocity (while
simultaneously decreasing or increasing torque, such
that energy is conserved).
Energy of Driving Gear = Energy of Following Gear

N1 1 = N22

N1 Number of Teeth of Driving Gear

1 Angular Movement of Driving Gear

N2 Number of Teeth of Following Gear

2 Angular Movement of Following Gear

70
 Mathematical Modelling of Gear Trains
• In the system below, a torque, τa, is applied to gear 1 (with
number of teeth N1, moment of inertia J1 and a rotational friction
B1).
• It, in turn, is connected to gear 2 (with number of teeth N2,
moment of inertia J2 and a rotational friction B2).
• The angle θ1 is defined positive clockwise, θ2 is defined positive
clockwise. The torque acts in the direction of θ1.
• Assume that TL is the load torque applied by the load connected
to Gear-2.

N2
N1
B1

B2 115
 Mathematical Modelling of Gear Trains
• For Gear-1

 a = J1 1+ B1 1 Eq (1)

+ T1
• For Gear-2
T2 = J2 2+ B2 2+ Eq (2) N1
N2

TL B1

• Since B2
N1 1 = N 2  2
• therefore
N1
2 = 1 Eq (3)
N2 116
 Mathematical Modelling of Gear Trains
• Gear Ratio is calculated as
T2 N2 N1
=  T1 = T2
T1 N1 N2
N2
• Put this value in eq (1) N1
B1
N1
 a = J 11 +11 +
B T2
N2 B2
• Put T2 from eq(2)
N1
 a = J 11 + B11 + ( J 2 2 + B2 2 + TL
N2 )
• Substitute θ2 from eq (3)
N1 N1 N1 N1
 a = J 11 + B11 + (J 2 1 + B 2 2 + TL )
N2 N2 N2 N 2 117
 Mathematical Modelling of Gear Trains
N1 N1 N1 N1
 a = J 11 + B1 1 + (J 2 1 + B 2 2 + TL )
N N2 N2 N2
 2
• After simplification
2 2
 N 1 N  N
 a = J1 1 +   J 2 1 + B1 1 +
 1   N 2B2 1 +  1 T L  N2  N2
  N1 
2   
 N 1
2  N
 a = J 1 +   J 2  1 + B1 +  
   B2
 1 +  1 TL N 2  


  N2  

N2

2 2
N1 
  N1 
 
Jeq = J1 +   J2 Beq = B1 +   B2
 N2   N2 

N1
 a = J eq1 + eq1 + TL
B N2 118
 Mathematical Modelling of Gear Trains

• For three gears connected together

2 2
N1  
2
   
N1   N

= J1 +   J 2+     J3
3
Jeq
 N2   N2   N4 

2 2
N1  
2
   
N1   N

Beq = B1 +   B2 +    3  B3
 N2   N2   N4 

119