Experimental Determination of

Rigid Body Parameters

Prof. Raul G. Longoria
October 20, 2000
Version 1.0
ME 244L
Dynamic Systems and Controls Laboratory

Department of Mechanical Engineering

The University of Texas at Austin

Overview
This lecture reviews the design of experiments
for measuring inertia properties of rigid bodies,
mainly for rotational dynamics.
A knowledge of basic pendulum dynamics is
required.

ME 244L
Dynamic Systems and Controls Laboratory

Department of Mechanical Engineering

The University of Texas at Austin

Functional Types of Engineering Experiments

Determination of material properties and object dimensions
Determination of component parameters, variables, and
performance indices
Determination of system parameters, variables and performance
indices
Evaluation and improvement of theoretical models
Product/process improvement by testing
Exploratory experimentation
Acceptance testing
Use of physical models and analogues
Teaching/learning through experimentation
ME 244L
Dynamic Systems and Controls Laboratory

Department of Mechanical Engineering

The University of Texas at Austin

Specific Tasks
Modeling of a rotational pendulum with either
two or three suspension files.
Design of experiments using bifilar or
trifilar configuration.
Perform experiments with simple rigid bodies
to confirm model.
ME 244L
Dynamic Systems and Controls Laboratory

Department of Mechanical Engineering

The University of Texas at Austin

Need for Inertia Properties

Suspension

Puma 560

ME 244L
Dynamic Systems and Controls Laboratory

Department of Mechanical Engineering

The University of Texas at Austin

Moment of Inertia
The moment of inertia, J, of a rigid body about
an axis is defined by,
2
J = r dm

You can interpret J as a measure of a bodys

refusal to be angularly accelerated.
Parallel axes theorem
J o = J CG + mlc2
ME 244L
Dynamic Systems and Controls Laboratory

Department of Mechanical Engineering

The University of Texas at Austin

Moments of Inertia

From Ogata, System Dynamics.

ME 244L
Dynamic Systems and Controls Laboratory

Department of Mechanical Engineering

The University of Texas at Austin

Compound Pendulum
Equation of motion for rotation of a rigid body
about a fixed axis.
Only gravity is external force (neglect any
damping due to air, pivot, etc.)
Apply Newtons law,
J!! = mglc sin

ME 244L
Dynamic Systems and Controls Laboratory

Department of Mechanical Engineering

The University of Texas at Austin

Radius of gyration
The radius of gyration, k, is the distance from
the point of suspension of the pendulum at
which we must concentrate the total mass, m, in
order to obtain the moment of inertia, J, of the
actual mass distribution.
2

J = mk

Equivalent simple pendulum has leq =

mlc
k is the geometric mean, 2
k = lc leq

ME 244L
Dynamic Systems and Controls Laboratory

Department of Mechanical Engineering

The University of Texas at Austin

Experiment Design - Bifilar

ME 244L
Dynamic Systems and Controls Laboratory

Department of Mechanical Engineering

The University of Texas at Austin

Experiment Design - Bifilar

J!! = T =

mg
sin R 2
2

L sin = R sin
L = R
mg R
J!! +
sin R 2 = 0
2 L
mgR 2
= 0
JL

Moment of inertia

!! +

2
Tn mgR
J =
L
2

mgR 2
2
n =
=
Tn
JL
ME 244L
Dynamic Systems and Controls Laboratory

Department of Mechanical Engineering

The University of Texas at Austin

Adjustable Bifilar
The torques on each file will be different here at
the point of attachment, so the period depends on x.
T = 2

J
mgx (d x) / l

Predict a
minimum period:
T
=0
x

d
ME 244L
Dynamic Systems and Controls Laboratory

x 1
=
d 2

Department of Mechanical Engineering

The University of Texas at Austin

Trifilar - More practical in the lab?

ME 244L
Dynamic Systems and Controls Laboratory

Department of Mechanical Engineering

The University of Texas at Austin

Typical Drivetrain Values

Ref. SAE Universal Joint and Driveshaft Manual, 1979.

ME 244L
Dynamic Systems and Controls Laboratory

Department of Mechanical Engineering

The University of Texas at Austin

Other Methods (1)

Basic torsional pendulum

d 2G
Jd =
128 f n2 L
d = wire diameter
G=shear modulus of wire
f n = measured natural frequency of
motion in

ME 244L
Dynamic Systems and Controls Laboratory

Department of Mechanical Engineering

The University of Texas at Austin

Other Methods (2)

What is the model that governs this experiment design?

t 2 2 WR 2
J =
H g 2
t = time to fall height, H
H = height weight falls
W = weight

ME 244L
Dynamic Systems and Controls Laboratory

Department of Mechanical Engineering

The University of Texas at Austin