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108
Keywords: ADAMS, joint R1, joint R2, Reaction forces, Slider crank
mechanism.
I.
INTRODUCTION
Length,
m
Width,
m
Depth,
m
Crankshaft
Connecting
Rod
0.31
-----
0.04
0.04
0.02
0.02
Moment of
inertia,
Kg-m2
0.4
0.75
TABLE II
DESCRIPTION OF PLATE
Thickness, m
Body
Connecting Plate
Body
Length ,
m
Slider
Block
Base
Block
0.2
0.98
0.1
2
6
Radius, m
0.01
TABLE III
DESCRIPTION OF BLOCK
Height, m
Depth, m
Moment of
inertia
Kg-m2
0.07
0.1
0.75
0.05
Mass
Kg
0.1
----
IJENS
Mass,
Kg
8
-----
The distance between the slider block and the end of the
connecting plate is 0.6 m.
III.
SIMULATION MODEL
The generalized diagram of the mechanism is shown in figure
2.
109
A. DESCRIPTION OF FORCES
There are two forces used in the mechanism for analysis.
Initially dynamic analysis of the system has been performed
using moment of 2.4 Nm at joint R1 and later on this moment
has been replaced by imposed motion with angular velocity of
6 rad/sec. The rotational motion is imposed on joint R1 to
perform kinematic analysis. The gravity is present in the
system as a third force.
TABLE V
DESCRIPTION OF FORCES
2.4 Nm
6 rad/s
9.8 m/s2
Moment
Rotational Motion
Gravity
IV.
STATIC EQUILIBRIUM
After modeling and defining constraints, static equilibrium has
been determined successfully by running simulation with end
time 0.25 seconds and step size 0.01(figure 3). In static
equilibrium, all the reaction forces in the body are zer
A. RIGID BODIES
The mechanism has the following bodies.
V.
MOMENT LOADING
A moment of 2.4 Nm has been applied at joint R1 and running
the simulation for 5 seconds with time step of 0.001. The
model has been verified successfully with 1 DOF. The system
does not have any redundant constraint. Since the difference
between number of generalized coordinates and number of
constraint equations is 1 therefore the system has 1 degree of
freedom and is dynamically driven.
TABLE VI
Joints
Revolute
Joint
No. of
Joints
TABLE IV
DESCRIPTION OF JOINTS
Translational
Primitive
Joint
Joint
Moving
Parts
Revolute
joint
Translational
joint
Primitive
Joint
Moment
DOF
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110
Moving
Parts
3
TABLE VII
NUMBER OF PARTS, JOINTS , FORCES AND DOF IN
IMPOSED MOTION
Revolute
Translational
Primitive
Motion
DOF
joint
joint
Joint
2
The system has 0 DOF which means that the imposed motion
acts as constraint and the number of generalized coordinates
(n) becomes equal to the number of constraint equations (nc)
i.e. n = nc and therefore system is kinematically driven.
IJENS
Qe F T r / q ------------------------------------------- (3)
Cd i
qi ------------------------------------------------ (4)
I
COMPARISON
The numerical values obtained from the plots for both cases
i.e. moment and rotational motions are shown in table VIII.
111
TABLE VIII
COMPARISON BETWEEN MOMENT LOADING AND
ROTATIONAL MOTION CASE
+ve Force in
xdirection(N)
-ve Force in
xdirection(N)
+ve Force in
ydirection(N)
-ve Force in
ydirection(N)
W F T r / q
Moment
55
-60
135
10
Rotational
Motion
165
-250
325
-460
Case
DISCUSSIONS
Cdi
qi 0 ------------------------ (6)
I
q = Virtual Displacement
I = Unit Matrix
Cq = Jacobin Matrix
Mq QV Qe C T q 0 ------------------------------ (8)
C = 0 ------------------------------------------------------------ (9)
Where,
CONCLUSIONS
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112
ACKNOWLEDGEMENTS
[2]
[3]
[4]
[5]
[6]
REFERENCES
IJENS