Dynamics

of Machinery
MCG 3130


Prof : Ahsan Ahmed

fahsa082@uottawa.ca

Introduction :

Mechanics

Dynamic (systems
Static
changes with time)

Kinetics (force is
isolated)
Kematics

Machines :

a) Combination of interrelated parts

b) definite motion
c) links joined together Kinetic analysis
d) Useful work

Mechanism :

a) Components of machine
b) two or more bodies Kinematic analysis
c) motion is dependent

Ex. :

Machine = Automotive power train

Mechanisms = a) Slider crank linkages

b) Cam & follower

c) Gear train
Link or bar :

a) rigid component of machine or mechanism

b) transmt force and motion
c) Use in the Kinematic chain [Link + Joint]

Frame :

a) Fixed or stationary link

Ex. : base, stationary platform housing

Joint :

a) Connection between links

b) Permit constrained relative motion

Ex. : Crank shaft and connecting rod is a revolute joint

Lower Pairs :

Two members / elements in surface contact

Bearing (Revolute Joint)

Higher Pairs :

Two members / elements are in point contact

Ex. : Gears, Cam Follower mechanism

Closed loop Kinematic chain :

Kinematic chain is a combination of assembly of joints & links

Ex. : L1, L2 and L3 are links

J1 and J 2 are joints

 a) Each link is connected to two or more links

Ex. :

Link 1 Frame
Link 2 Crank [Crank shaft]
4 Bar / link Mechanism
Link 3 Connecting rod
Link 4 Slider

4 Joints :

J1 Revolute Joint Bearing Casing & Crank

J 2 Crank Pin / Revolute Joint Crank & Connecting rod

J 3 Revolute Joint Wrist Pin Connects Connecting rod & Piston
J 4 Piston & Cylinderhead Forms Sliding Pair

Mechanism Motion Problems :

4Bar Mechanism

Link Motion Table (1st step in problem)

Given Input Con.rod Output

Position 1 2 3

Angular v 1 2 3 to be calculated

Angular a 1 2 3

Analysis Problems (problem type 1) :

Geometric Characteristics are given

r0 , r1, r3 x2 , y2

Problem 1 : Position

Given Geometric Char.

1 given numerically

Find 2 , 3

x, y coordinates in frame of B, C and P2

Problem type 2 :

Given G.C.

1, 1

Find 2 , 2 and v, a of B.C.

3, 3

Problem type 3 (statics) :

Given G.C.

applied force on links

Find force at connection B.C.

supports A & D

Problem type 4 (kinostatics / inverse dynamics) : MIDTERM

Given 1, 1 G.C.

mass inertia

Find Necessary Driving torque T

Problem type 5 (balacing) : FinalExam

Given Force system acting at Base A, D

shaking force

Find Position & mass of counter weights to minimize shaking at support forces A & D

1) Position Analysis :

Ref. : Wilson Section 2.7

OB driving crank
BC connecting rod
C slider
OC y offset e

Given : r, L, e, as parameter or a number

s slider
Find : in terms of O
connecting rod

Method #1 : Graphical draw to scale Calculate the variables (Not in this class)

Method #2 : Trigonometric direct method Use right angle s

OD r cos
EC L cos
BE r sin e
S OD EC

BE
sin 1 S r cos L cos
L








 Extreme Position of C Work enveop [Range of Motion]

Extreme Right :

Smax L r e2
2

Extreme Left :


Smin L r e2
2

S Stroke Smax Smin




Method #3 : Vector Method general approach
may use iterative solution
easy to generalize 3D

Interative Equation solution in line slider crank










Applicable to complicated problems
Several loops / spatial mechanism
Programming

Given : r1, r2 , 1

2 driven links
Find : 2, x
2 equations
Analysis :

Vector diagram Loop Closure Diagram

Components of vectors


r1 r1 cos1 i r1 sin 1 j

r2 r2 cos 2 i r2 sin 2 j

r3 x i












Loop Closure equation

r1 r2 r3 0 [single vector eq.]

Expand eq. :

i r1 cos1 r2 cos 2 x j r1 sin 1 r2 sin 2 0

Match components scalar equations
r1 cos1 r2 cos 2 x 0
Basic equation(s) unkowns 2 & x
r1 sin 1 r2 sin 2 0

For equation solution Newton Raphson Iterative Method :
Convert problem into insolving fonction
Separate the non linear parts
Iterative approach to get solution

First step :
r1 cos1 r2 cos 2 x f1 2 , x A

r1 sin 1 r2 sin 2 f2 2 , x B

f1, f2 non linear


 Second step : Interative procedure :

Strategy : 1) Select trial values for 2 , x (numerical values)
2) Use some equations to find correction to trial
3) Find corrections until there is convergence

Select trial values for 2 , x (numerical values)
Assume there exist small correction 2 , x added to trial values in
order to get roots.

fi 2 2 , x x 0 i 1, 2, ...

Problem has changed to correction evaluation 2 , x

Introduce the possibility of linear :
Set up equations for these unknown
Use theory related to functions Taylor Expansion separate the non
linear parts

f , x f , x
fi 2 2 , x x fi 2 , x i 2 2 i 2 x higher order
2 x
expansion about trial values

Solve for correction 2 , x
corrections functions equal to zero
Therefore set expansion to zero and rearrange

f1 f
i 1 2 1 x f1
2 x
f2 f
i 2 2 2 x f2
2 x

fi fi 2 , x

trial values


For the present exemple :

r2 sin 2 2 1 x f1

r2 cos 2 2 0 x f2
Two unknowns are 2 , x [linear first power]

 r sin 1 2 f
2 2
1
r2 cos 2 0 x f
2



a a x b

A x b or 11 12 1 1 Matrix form linear equation
a21 a22 x2 b2


Solve Cramers Rule 2 , x

Cramers Rule :

ax by e

cx dy f
e b

a b x e f d
x
c d y f a b
c d

Then 2new 2old 2
x new x old x

Last step :

Process is repeated new corrections are found until
convergence
no change in 3rd figure

Finally

when 2 , x found position of other points of mechanism are easily
determined.




 Terminology 4 Bar Mechanism :

Links Fixed Frame

Links

Move crank revolves 3600

Rocker rocks < 3600

Slider translational motion




2D Joints involves pair of links
1) Revolute (rotational joint)

Ex. : Bearing / Pin
1 Degree of freedom (DOF)

2) Prismatic Joint (sliding)





3) Cam

Cam has 2 DOF (rolling and slide)

Disk Cam / Follower

 4) Rolling Contact

1 DOF if no slipping

But gear : 1 DOF
Continue 4 Planer (2D) joints

Degree of Freedom (DOF) Mobility :

Number of independent variables (scalar)
Define position (point or a rigid body)
with respect to a reference point

Exemple 1 : Point on a plane

2 DOF
constrained > point can be on the line 1 DOF

Grubler Equation :

n total number of links (include 1 fixed link)
f1 # of 1 DOF pair (revolute, sliding)
f2 # of 2 DOF pair (cams, gears)




 Prediction :

M 3 n 1 2 f1 f2


M 3 x Moving links Restraints

Total # of restraints / constraints

Slider Crank

M 3 3 2 4

M 9 8 1

Exemple 2 : 4 Bar

M 3 4 1 2 4
M 3 3 8
M 1


Terms 4 Bar Mechanisms

Classification Grashop Criteria
Class 1 Grashof at least One link can rotate 3600
Class 2 Non Grashof no link can rotate 3600


s = shortest link
l = longest link
p, q = intermediate links







Based on Grashof theorem : if s l p q Mechanism Class 1
If s l p q Class 2

Class 1 :

Subcategory A
shortest link is the fixed link



Double crank














s l p q Double crank

Subcategory B : Shortest link side link



Crank Rocker (less than 360)









Subcategory C : Shortest link is Connecting rod











Small link can make a complete rotation


For class 2 : l s p q Uncommon not useful



Kinematic of planar mechanism :


At midterm AND final
Ref. : Wilson ch. #3 and #4








Objective determine motion of driven links and special points
Motivation forces causes the motion


Analytical vector method :
Vectors along links
Use loop closure equations
Differentiate rt time

Solution in 2 major parts :
1. Inverse problem link motion (loop closure equation & derivates)
2. Forward problem particle kinematics relative motion equation

Part 1 Preliminary theory :
Inverse problem
Differentiation wrt time













Special Cases :
1. Length constt direction varies r w r
2. Length varies direction constt vector along a slider

Part 2 : Forward Problem relative












Kinematics of slider crank SC analytical vector method


In line SC i, j are fixed links

Link 1 is driver

Given : Geometric characteristics, r1, r2 , x p2 , y p2
input motion 1, 1, 1

Find :
2, x rB , rp2

2 , vc vB , v p 2

2 , ac aB , a p2
Connecting rod Special points part 2


Part 1 Inverse motion of driven link


r1 r1 cos1 i r1 sin 1 j r1x i r1y j

r2 r2 cos 2 i r2 sin 2 j r2 x i r2 y j

r3 x i




Loop closure equation

r1 r2 r3 0

i r1 cos1 r2 cos 2 x 0

j r1 sin 1 r2 sin 2 0
Simultaneous / non linear equation

Solution considered before :
A Interative method
B Closed form

Option B for this problem

r
2 sin 1 1 sin 1
r2
x r1 cos1 r2 cos 2

2. Velocity (of link) option A differentiate vector equation
option B differentiate scaler equation

Use option A :


r3 r1 r2 0

Diff. wrt time


xi 1 r1 2 r2 0 Vector velocity equation


Expand :
vc i 1k r1x i r1y j 2 k r2 x i r2 y j 0


Unknows ? must carry out product i j k and collect term


i vc 1r1y 2 r2 y 0

j 1r1x 2 r2 x 0

Solution :
r
2 1x 1 vC 1r1y 2 r2 y
r2 x

Remains : 2 , aC


 3. Acceleration Using option A diff. velocity acceleration


x i 1 r1 2 r2 0


Diff. wrt time
x i 1 r1 1 r1 2 r2 2 r2 0




ac i 1 k r1x i r1y j 1 k 1 k r1x i r1y j 2 k r2 x i r2 y j 2 k 2 k r2 x i r2 y j 0

Unknows are aC & 2


i ac 1r1y 12 r1x 2 r2 y 22 r2 x 0

j 1r1x 12 r1y 2 r2 x 22 r2 y 0

Solve :

1
2 1r1x 12 r1y 22 r2 y
r2 x
aC 1r1y 12 r1x 2 r2 y 22 r2 x

x

We can calculated : v
a

Part II Point B

Forward Particle Kinematics special points B, P2 use relative motion equation.
Part II Forward Particle Kinematic

Position of point B, P2
Use relative motion equations

Point B :

Position : r rOB r1 v r

Velocity : vB v0 vB/O 0 1 r1


1 k r1x i r1y j


1 r1y i 1r1x j



vBx i vBy j 1r1y i 1r1x j



Acceleration :

aB aO aC/B
n
aC/B
t


aB 0 1 1 r1 1 r1 expand it to have = aBx i aBy j

Point C :

rC x i vC vC i


aC aC i Signs are important


Point P2 :

yP2
tan 2 2 P 2 2
xP2 2

lBP2 xP22 y 2P2
r l i , j, k


Resolve into components


rBP2 lBP2 cos P2 i lBP2 sin P2 j

Absolute Position :

rOP2 rOB rBP2 Expande to have rOP2 x rOP2 y

Absolute velocity :

vP2 vO vB vP2 /B

0

vP2 vB i vBy j 2 rBP2

vP2 x i vP2 y j vB i vBy j 2 rBP2

Absolute acceleration


aP2 aB a nP2 /B a tP2 /B


aP2 aBx i aBy j 2 k 2 k rBP2 2 k rBP2 Expand


Note : an 2 r and at r



 Exemple : 2D Kinematics Vector & Scalar option
Solve for 1, 2 given q 60 rad/s , q 45, 1 302, 2 53
















Colsed loop eq. :








Option A Vector :

Differentiate wrt time :

r1 r2 r3 r4 0


r1 r2 r3 0


1 r1 2 r2 3 r3 0


60 k 5, 66 i 5, 66 j 1 k 8, 48 i 13, 6 j 2 k 6 i 8 j 0
i : 13, 61 82 339, 4
j : 8, 481 62 339, 4

Find values of 1, 2


 Velocity of G1 :

rG1 r1 rBG1

vG1 1 r1 2 rBG1


vG1 60 k 5, 66 i 5, 66 j 1 k 5,3 i 8, 5 j

v 339, 4 8, 5 i 339, 4 5, 3 j
G1

1

1

In the exams, answer should always be in i , j, k


Option B Scalar

Loop closed eq. :


i : 8cosq 16 cos 1 10 cos 2 AD 0

j : 8sin q 16sin 1 10sin 2 0

1 ?
Velocity differentiate scalar wrt time to get
2 ?
(similar to Mehtod A)

xG r1 cosq rBG1 cos 1
Velocity of G1 : Position : 1
yG1 r1 sin q rBG1 sin 1
For velocity, differientiate

 Kinematic of spatial mechanism


Planar popular Extensively studied

Spatial difficult to analyze less studied

3D Spatial joints pair of links

Type of joints :

1. Revolute joint
1 DOF rotation
5 restraints
3 translation, 2 rotations / couple

2. Prismatic joint
1 DOF motion (translational) in x direction
5 restraints

3. Telescopic c (collar, cylinderical)
2 DOF Translational, Rotational


4. Spherical joint s
3 DOF All rotational


5. Planar (Pl)
3 DOF

rotational

[ x, y , ]
translational

Mobility DOF Spatial linkages M

Kutzbach formula : n 1 number of moving links
f1 number of 1 DOF pairs (R, P)
f2 number of 2 DOF pairs C
f3 number of 3 DOF pairs S, Pl

M 6 n 1 5 f1 4 f2 ... f5

6 x # of moving links Restraints

Application of RSRC spatial linkage :

Based on hand out Figure RSRC

Link 1 : Driving link rotates about y, moves in xz plane

Link 2 : Connecting rod S joint with crank
R joint with a collar

Link 3 : dirven link
R joint with connecting rod
C joint with guide
rotate and slide wrt AB

Geometrys :

CBS inclined triangle
right angle at B

V angle of elevation of CS
V angle of elevation of B

eBS unit vector along BS makes v wrt i
distance from C to B Slider motion
angle XR1S DOF of crank
daz distance of c of m G2 from s
center mass

Kinematics of spatial RSRC :

Given : motion of link 1 Find motion of rest of links (2,3)

Method : Use analytical vector method
Part I Inverse link motion
Part II Forward special points

Mobility : Kutz bach formula

M 6 n 1 5 f1 4 f2 3 f3 2 f4 f5
6 3 5 2 4 1 3 1
18 10 4 3

M 1

Given : r1, r2 , a, b, das , 1, 1, 1

Find : The motion of driven links and special points


P r2 rs ra2

V 2 vc vs va2

A 2 ac as aa2
Part I Inverse Part II


Part I Inverse Analytical vector method

Based on loop closure equation [hand out]


r1 r2 r3 BR1 0


Plane i k r1 r1 cos1 i r1 sin1 k r1x i r1z k


triangle CBS r2 r2 cos v j r2 sin v eBS


Note : eBS cos v i sin v k

BR1 b i a k

r3 j


Substitute componants into equation :


r3 BR1 r1 r2 0



j b i a k r1x i r1z k r2 cos v j r2 sin v cos v i r2 sin v sin v k 0

i : b r1x r2 sin v cos v 0
j : r2 cos v 0 3 simultaneus equations non linear
k : a r1z r2 sin v sin v 0

Unknows
slider
v connecting rod
v angle of elevation
Option B : Closed form (analysis)

b r1x r2 sin v cos v (I)
r2 cos v (II)
a r1z r2 sin v sin v (III)

Square and add these term

b r1x 2 a r1z r 2
2 2

Then from (II) v

from
III tan v v
I
Application 7 R S R C spatial linkage

1 DOF 2 DOF [1 T, 1 Rot]

3 DOF



Alternate solution for position analysis

Purpose : improve velocity and acceleration analysis


Represent connecting rod with vector having unknown components


First handout (loop closure equation)
r2 is function of angles r1 , eBS


r2 is in the form of dimension

r2 r2 x i r2 j j r2 z k






Loop closure equation :

BR1

r3 ro r1 r2 0



j b i a k r1 cos i r1 sin k r2 x i r2 y j r2 z k 0

i b r1 cos r2 x 0 (1)

j r2 y 0 (2) 3 equation for 4 unknowns , r2 x , r2 y , r2 z

k a r1 sin r2 z 0 (3)

Need an additional equation length of r2 is given

r22x r22y r22z r22 (4)

Equation set simultaneous non linear

Closed loop form option B Substitute (1), (2), (3) into (4)


2 U 2

b r1 cos a r1 sin r22

2

G G G G G G G

Then r2 x b r1 cos
r2 y
r2 z a r1 sin

Thus the position of links 2 & 3 are completely defined


Kinematic of spatial 4 Bar mechanism (Ref. : Wilson section 2.6, 2.8, 4.13)

From Figure : RSSR linkage

R1S1 link 1 driving link rotates about zaxis
S1S2 link 2 connecting rod spatial motion ( G2 center of mass)
S2 R2 link 3 driven rocker rotates about xaxis motion in yz plane

Given r1, r2 , r3, a, b, dG2 , , 1, 1

Find P r2 , rs1, rG 2

V 2 , 3 vs1, vG 2

A 2 , 3 aS1, aG 2

Part 1 Driven links loop closure equation Part 2 Special points relative notion

Kinematics always do in order of Position, Velocity, Acceleration P, V, A




Mobility (M = ? ) :

n 4, f1 2, f3 2, f2 0

Kutzbach formula M 6 n 1 5 f1 4 f2 3 f3 M 2 DOF

1 DOF gross motion of mechanism,
2 DOF independent,
spin DOF
Idle DOF
does not contribute to gross motion


Analytical Vector Method Gross motion
Need to find P, V, A links and special points vectors

1 Position Analysis [loop sketch from hand out #2]
Loop closure equation

ro b k a i

r1 r2 r3 r0 0 r2 r2 x i r2 y j r2 z k

r1 r1 cos i r1 sin j r1x i r1y j

r3 r3 cos k r3 sin j r3y j r3z k

Substitute vectors into the first equation and collect terms

i r1 cos r2 x a 0 (1)

j r1 sin r2 y r3 sin 0 (2) simultaneus non linear

k r2 z r3 cos b 0 (3)

Need the 4th equation length of vector r2
r 22 x r 22 y r 22 z r 22 (4)

r2 x r1 cos a (1)
r2 y r1 sin r3 sin (2)
r2 z r3 cos b (3)

Substitude into equation (4)
r1 cos a r1 sin r3 sin r3 cos b r 22
2 2 2

only is unknown

 Then find r2 x , r2 y , r2 z from equation (1), (2), (3)

Similarly for r1x , r1y , r3y , r3z

2 Velocity Using Option A Differentiate the first equation wrt time


r1 r2 r3 r0 0

1 r1 2 r2 3 r3 0


1 k r1x i r1y j 2 x i 2 y j 2 z k r2 x i r2 y j r2 z k 3 i r3y j r3z k 0

Expand and collect terms

i 1r1y 2 y r2 z 2 z r2 y 0 (1)

j 1r1x 2 x r2 z 2z r2 x 3r3z 0 (2) 3 simultaneus non linear eq. 4 un.

k 2 x r2 y 2 y r2 x 3r3y 0 (3)

4th equation Are we seeking the gross motion of mechanism
The 2 component being sought should have zero spin component
Set component of 2 about r2 direction = 0

2 r2 0

i. e. 2 x r2 x 2 y r2 y 2 z r2 z 0
This ends up with 4 equations 4 unknows
Consolve gives velocities of driven links

3 Acceleration Differentiate two time the first equation wrt time


1 r1 1 r1 2 r2 2 r2 3 r3 3 r3 0


1 k r1x i r1y j 1 k 1 r1 2 x i 2 y j 2 z k r2 2 2 r2 3 i r3 3 3 r3 0

Expand and collect terms 3 simultaneus equations but 4 unknowns

2 x , 2 y, 2 z , 3


We need 4th equation 2 r2 0

i.e. 2 x r2 x 2 y r2 y 2z r2 z 0
This end part 1 link motion is defined



Problem [Hand out 1]

Part 1 :


Loop closure equation QABOQ r2 r3 j 4 i 0


45sin 40 j 4cos 40 k r3x i r3y j r3z k j 4 i 0

r3x 4 0
r3y 4sin 40 0
r3z 4cos 40 0
r 32 r3x2 r3y2 r3z2
r3 12 in (Given)

r3x 4, r3y 10, 96, r3z 3, 06

Differentiate wrt time

2 r2 3 r3 j 0


48 i 4sin 40 j 4cos 40 k 3x i 3y j 3z k 4 i 10, 96 j 3, 06 k j 0

i 3, 063y 10, 963z 0

j 3, 063x 43z 137, 7 0

k 10, 963x 43y 115, 65 0

4th equation will be : 3 r3 0
43x 10, 963y 3, 063z 0

Answer : 113, 53 in/s
3x 9, 219 rad/s
3y 3, 65 rad/s
3z 0, 965 rad/s


Part 2 :

v p vB 3 rBP
4 10, 96 3, 06

v p j 3x i 3y j 3z k i
2 2
j
2
k



Do the cross product to get : vd 0, 296 i 130, 72 j 58, 39 k


Problem on spatial mechanisms :

RSSC linkage

BC Connecting Rod
AB driving crank
C slider













a) Determine the mobility of mechanism, identify the degree of freedom

b) Develop but no solve, the scalar equations to determine the magnitude of velocity of

slider C, vc , when q 90

c) Assume the solution to part (b), is vc 3 k cm/sec , and

2 0, 0533 i 0, 7101 j 0,1598 k rad/s . Determine at this intant the velocity v p of point
P, (not shown), which is at the midlength of rod BC.


Solution :

Mobility : M 6 n 1 5 f1 4 f2 3 f3 ...
M 6 3 5 2 0 3 2 2 DOF



Loop closure eq. : r1 r2 z k 4 i 0

r1 cosq i r1 sin q j r2 x i r2 y j r2 z k z k 4 i 0

when q 90 Condition given in the problem

0 i 3 j r2 x i r2 y j r2 z k z k 4 i 0 with r22x r22y r22z r22

separate r2 x , r2 y , r2 z
r2 x 4
r2 y 3
r2 z z

4 3 r 22z 132
2 2

r2 z 12

4 scalar equation vc


1 r1 2 r2 z k 0 1 3 rad/s given value



3 k 3 j 2 x i 2 y j 2 z k 4 i 3 j 12 k z k 0

i : 12 2 y 3 2 z 9 (1)

j : 12 2 x 4 2 z 0 (2)

k : 3 2 x 4 2 y z 0 (3)

4 2 x 3 2 y 12 2z 0 (4) 2 r2 0

1
v p vB 2 r2 3 k 3 j Given value 2 i 1, 5 j 6 k
2

v p 4, 5 i 0 j 1, 5 k




 Static analysis of mechanisms

Static stationary or slow moving systems

Use Single loop
Multiple loops

Objectif find all forces (VS)
find input torque (VW)
















Methods (1) Vector statics (V.S.)
(2) Virtual work (V.W.)

Type of Problems

statically determinate Input torque is Unknown








Method 1 Vector statics (VS)

Theory : Free Body Diagram + equilibrium equations (Newtons)
Obtain results for one value of
Geometry kinematic analysis


Exemple :
4 Bar Mechanism Scale drawing or Hand solutions

Given : Geometry, applied forces
Find : T1
Ignore : Friction, gravity (M)
Inertia forces (I)

Solution :

Unknowns : Ax , Ay , T1, Bx , By , Cx , Cy , Dx , Dy = 9 unknows

Equation for each body (3) Fx 0, Fy , M z 0

Option A Computer set up 9 equations 9 unknown

Option B Hand Organize equation minimize size of simaltenious equation set

In this calss, we use option B

Each link 4 unknown only 3 equations
Will have to consider at least 2 links simultaneously
strategy that works For link BC M B 0 Involve, Cx , Cy 2 equation 2 unknowns

For link CD M D 0


Link BC :

MB 0
13, 57Cx 8, 48Cy 8, 48 99, 3 5, 30 12, 9 253 0

Link CD :

M D 0
8Cx 6Cy 4 84, 6 3 30,8 84 0

Solve by equation or Cramers Rule

Cx 22,8 N

Cy 850 N

Further unknows want to avoid simultaneous equation

Link CD :


Fx 0
Dx 22,8 84, 6 0 Dx 107, 4 N

Fy 0
Dy 115, 8 N

Link BC :


Fx 0
Bx 99,3 22,8 0 Bx 76, 5 N

Fy 0 By 97, 2 N
Link AB :


Fx 0
Ax 76, 5 0 Ax 76, 5 N

Fy 0 Ay 97, 2 N

M A 0
T1 5, 66 97, 2 5, 66 76, 5 0 T1 983,1 N (Balancing torque)


Multiloop 1DOF mechanism :

Need one external torque
Use equations of equilibrium [3 equation for links]

Exemple : Outline of procedure (given only)
try to minimize simultaneous equations

Given : F, Geometry (for given )
Find : T1 for given , [ignore friction, inertiea & gravity]

Step 1 Make FBD By inspection

FBD 1 : 1st slider + link CB 3 unknowns Bx , By , Cy

3 set of equation
F 0
x

F 0
y

M 0 z

FBD 2 : 3 unknowns Ex , E y , N A

F 0
x

F 0
y

M 0
z

 FBD 3 : 3 unknowns Dx , Dy , T1







if proper of FBD = no simultaneous equation
 Midterm Details :

31st October, 2012

2 Questions

Topics :

a) Position analysis
No interative problem
Range of motion (limiting position) offset crank
b) 2D Planar Kinematic analysis
c) 3D Spatial Kinematic Analysis
d) Statics
Vector statics (VS)
Virtual work (VW)

Preparation :

1. All class notes problems
2. DGD problems
3. Problems sheets



Method 2 Virtual Work (V.W.)

Work done during small displacement from equilibrium is equal to zero.
Vector static method is too long.
V.W. find only one unknown [per system]
dont use FBD no equilibrium equations

Definition of V.W. :

F real applied force vector
unit vector
angle between F and
s small position variable for slider

Then
u F s
Fs cos

Virtual Work done by a force F through an imaginary displacement s


VW torque [rotation]

T real applied torque
angular position variable ( k direction)
small imaginary increment in

u T k k T Virtual Work (done by real torque T through an imaginary rotation )

Principle of Virtual Work (VW) system in equilibrium
If system that is in equilibrium under the action of external forces
If given a small virtual displacement then VW is zero






Static :
U Fm sm Tn n 0
Fm real external forces
sm corresponding virtual displacements
Tm real external torques
n corresponding virtual rotation




Kinetics :

Divide the VW equation by dt

d d
Fm dtsm Tn dtn 0

Fm Vm Tn n 0 Virtual power equation

where : Vm virtual velocity
n virtual angular velocity



Exemple 4 Bar Mechanism Resolve using VW :

Find T1 balancing torque only
Ignoe friction, gravity
for q 45, then 1 302, 2 53










Solution : Part I inverse

Loopclosure equation

r1 r2 r3 r0 0

i : 8cosq 16 cos 1 10 cos 2 AD 0

j : 8sin q 16sin 1 10sin 2 0

velocity : 16sin 1 1 10sin 2 2 8sin q q
16 cos 1 1 10 cos 2 2 8cosq q

Numerically : 13, 561 82 5, 66 q
8, 481 62 5, 66 q

Solve : 1 0, 0759 q 2
2 0,836 q 3

There are external forces @ E and F, Need VE , VF (virtual linear velocities)

For points on links :

1 Forward Kinematics

Use option B Scalar
Point E :
xE 8cosq 10 cos 1
yF 8sin q 10sin 1

x 8sin q q 10sin

E 1 1

8 0, 707 q 10 0, 848 0, 0759 q

xE 6, 30 q



yE 8cosq q 10 cos 1 1 5, 25q (after using the values)

Point F :
xF 8cosq 16 cos 1 5cos 2 x F 3, 34 q
yF 8sin q 16sin 1 5sin 2 yF 2, 50 q 3 2 0,836q

All virtual quantities in terms of q cancelled out in VW equation


VW equation: Fm vm Tn n 0 for equilibrium


FE vE FF vF M E 2 M F 3 T1 k q k 0


99,3 i 12, 2 j 6, 30q i 5, 25q j 84,6 i 30,8
j 3, 34q i 2, 50 q j

253 k 0, 0759 q k 84 k 0,836 q k T k q k 0
1

q cancel out

625, 29 64, 05 282 77 19, 20 70, 224 T1 0

T1 984, 7 N cm 2 acceptable

 Kinostatics of planar mechanism

Kinostatics = Kinematics + statics

Given : Position and motion of input links
link descriptions including mass & Inertia

Find : Accompanying forces in particular the driving torque (T)
dont ignore mertial forces

DAlembert Principale :

Used to include inertia effects in analysis

Define
FD maG
DAlembert force set (negative of inertia force)
CD I k



Then
Fi FD 0
DAlembert principle (sum of applied force set and dAlembert force
G D
M C 0
set produces static equilibrium) solve dynamic problem as if they
are stationary (if include dAlembert force)

Exemple : Kinostatics of a planar 4 Bar

Given : r1 8 cm , r2 16, r3 10
Position G2 , G3 G1
motion input 1 60 rad/s (const.)
mass and inertias
m2 1 kg I G 2 0, 7 103 kg-m 2
m3 0, 6 kg
I G3 0, 510 3 kg-m 2
Link 1 balanced G1 at A




Find : driving torque TB corresponds to motion at this time
q 45, 1 302, 2 53
ignore friction & gravity but INCLUDE INERTIA EFFECTS


Procedure :

1 Inverse - Part I
Step #1 Kinematics find to get accelerations for DA force set
aG1 Forward - Part II

FDi maG1
Step #2 DA Force sets New
CDi I k

Step #3 now consider applied and DA forces






Solution :

Step #1 Kinematics Part I Inverse



Loop closure Similar to VW




Loop closure equation r1 r2 r3 r4


i : 8cosq 16 cos 1 10 cos 2 AD 0
Position solution : q 45, 1 302, 2 53
j : 8sin q 16sin 1 10sin 2 0

For kinematics use option B differentiate scalar equation


i : 16sin 1 1 10sin 2 2 8sin q q
q 60 rad/s (dont use value yet)
j :16 cos 10 cos 8cosq q
1 1 2 2

1 0, 0759 q 2
Solve : leave values interms q implicit velocities
2 0,836 q 3

Take 2nd Derivative


0

16sin 1 1 10sin 2 2 16 cos 1 1 10 cos 2 2 8sin q q 8cosq q

2 2 2

16 cos 1 1 10 cos 2 2 16sin 1 1 10sin 2 2 8cosq q 8sin q q

2 2 2

0
1 q 60 rad/s

1 3610 rad/s 2
Solve numerically : where 1 q 0
2 1680 rad/s 3

CD I Calculated


Part II Forward solve for aG
aG1 0 (link 1 is balanced)

Point G2

x2 8cosq 10 cos 1
Absolute coordinate
y2 8sin q 10sin 1

x2 8sin q q 10sin 1 1 6, 20 q
implicite velocity
y2 5, 25q



x 8sin q q 8cosq q 10sin 10 cos 99, 3 m/s 2 a
2 2
2 1 1 1 1 G2 x Explicit acceleration
y2 12, 2 m/s2 aG2 y




Point G3

x3 8cosq 16 cos 1 5cos 2

y3 . . .

. . .

x3 3, 34q
Results : Implicit velocities
y3 2, 50 q

x3 141 m/s2 aG3x

Explicit accelerations
y3 51, 3 m/s2 aG3y



Step #2 Define DAlembert force set

Link 1 : FD1 m1aG 1 0
CD1 I11 0


Link 2 : FD2 m2 aG 2 99, 3 i 12, 2 j

CD2 IG 2 2 k 0, 710 3 3610 k 253 N cm k



Link 3 : FD3 m3aG3 84, 6 i 30,8 j

CD3 IG3 3 k 84 N cm k

Step #3 Static Include Applied & DA forces






Solve for TB with VS or VW












Kinetics of Rotors :

Planar

Mechanisms

Spatial

Machinery
2D No gyro action
(1 angular velocity)
Rotors
3D with gyro action
(+1 angular velocity
component)


Exemples for Rotors :

Wheels flywheels
Shafts crankshafts
Gears
Engine rotors propellers

Rotors :

Vector Dynamics
Newtons 2nd law Euler equation
DAlembert Principle

Kinetics of Rotors :








Based on meaningful quantities

m mass = const.
G center of mass

aG acceleration of G

LG Linear momentum
H G Angular momentum

, angular velocities and accelerations

v velocity of m

r radius vector from G to mass m

F L dt
d
2nd law : i v dm maG


M r v dm
d
Euler Equation : G H G
dt

For 2D Scalar form :

Fx Rx max R Resultat

F R y y may

M G IGz z

H G , H G , , always have the same direction k

Iz x 2
y 2 dm

Angular Momentum in 3D of a rigid body (RB) :

General Expression
Oxyz fixed
Gxyz moving G is the center of mass


absolute angular velocity wrt XYZ

x i y j z k (expressed wrt moving frame)

Consider a particle Pi with mass mi
Position of Pi wrt G is ri
Velocity of Pi wrt G is vi

m

H G ri vi m angular momentum of RB wrt G
i1



ri ri mi xi i yi j zi k x i y j z k xi i yi j zi k mi


HG H x i H y j H z k kg m 2 /sec

Expend : H G H x x yi2 zi2 mi y xi yi mi z xi zi mi
i i
Sililarly for H Gy , H Gz

as i replace with

y zi2 mi y zi2 dm
i
Exemple 2
i
2
i
m
i

I x , I y , I z are the mass moment of Inertia about G
I xy , etc. are the mass product of inertia about G

H x I x x I xy y I xy z
Similarly H y I yx x I y y I yz z
H z I zx x I zy y I z z

In Matrix form :

tensor
Inertia
H I I xy I xz
x x x
Hy I yx I y I yz y

Hz I zx I zy I z z


components of angular momentum components of angular velocity

Rotors Characteristics of H G
2D 1 components H Gz one inertia term I Gz

H Gz IGz z H I


3D

3 component of H x , H y , H z & 6 inertia terms
Simplify in 3D by choosing carfully [3 mass, 3 products] PA [Principal Axes]

Principal Axes (PA) :

I
x 0 0
Fn PA The inertia tensor becames diagonal 0 I y 0

0 0 I z

The P.A. are often easily identified along lines of symetry

Exemple :

Then H G I x x i I y y j I z z k


Direction of H G wrt

2D H G , parallel k

3D H G , not necessarily parallel [Only is along PA]

Absolute derivative of H G wrt time

M G H G Euler Equation
Derive expression for rotors convenient notation
axis of symetry
spin about that axes

Axes System

Motion can be easily described
of 3 axes system
OXYZ fixed
GX Y Z translating alongs parallel to OXYZ
GXYZ Local rotation frame

one axis along axis of symetry z
other 2 axes perpendicular to z
not attached to rotor


Motion of Rotor

Translation of GX Y Z

Rotation of GXYZ + spin about k

Angular velocities :

Frame GXYZ wrt GX Y Z

Rotor GXYZ wrt GX Y Z s k x i y j z k

Why set up system with & different
Easier to specify of local frame GXYZ
2nd motion spin of rotor about axis z

In rotor problems
is usually wrt XYZ, IJK
it will be resolved into xyz, ijk

FORMULA FOR DERIVATIVE OF H G :

HG H x i H y j H z k [component wrt GXYZ ]

H H
G x i H y j H z k H x i H y j H z k


H G H x i H y j H z k H x i H y j H z k


H GXYZ H Gxyz H Gxyz


H GXYZ Absolute derivative of angular momentum about G

H Gxyz local deri. account for changes in magnitude of the component (often zero)

H Gxyz gyroterm accounts for changes in direction of the component


M G H Gxyz H Gxyz


Rotors gyro action :

Examples for rotors Car with flywheel














Shaft @ A Thrust bearing resists axial and radial load

Shaft @ B radial bering resist only radial load

Equilibrium of shaft flywheel (rotor system)

1
I z I A mr 2
2
1
I x I y I p mr 2
4
Weight mg

F LG maG M G H G

Case # 1 : Car rounds a curve Flywheel not spining
R radius of curvature (const)
v uniform forward speed of car
OXYZ fixed axes O center of curve
Gxyz moving axes attatched to car

k along shaft
j forward direction

i down

Steady state condition analysis at convenient instant
resolution easy

k I
j J

i K

* Physics m, v, I A , I p, R constante wrt time




Linear Momentum LG mv changes direction

LG is in k direction
v2
LG maG k k (defined in Gxyz )
R
A force must be applied to produce the change

Angular Momentum

rotor Frame spin

component
0

v v
k (Define : OXYZ ) H G IG k
R R

M G H G 0 [no couple is required]

mv 2
DAlembert force set : FD LG k (centrifugal force) CD 0
R

Statics

v2
FAx FD m
R




Cas # 3 : Car rounds curve radius R uniform speed v (forward)

Flywheel spins at k (constant rate)

Fixed Axes OXYZ
Moving Axes Gxyz attach to car (not rotor)
rotor spins wrt Gxyz

For Instant : when k I Angular velocity of Gxyz
v
j J k [Precession]
R
i K


Angular velocity of rotor k spin
Linear momentum as for case #2

Angular momentum : component [
K direction] is constant
k magnitude constant but direction is changing

H G spin I A k

H
changes in j direction
gyroaction


DAlembert force set :

v v
Gxyz angular velocity k i (resolve in Gxyz )
R R

v
Rotor angular velocity k i k
R

FD LG as case 1
CD H G 0 (gyroaction)

Gxyz are PA centroidal Product of Inertia is zero

HG H x i H y j H3 k
 v
H G I x x i I y y j I z z k I p i I A k
R
0
Note : I A , I p , v, R, const.

Global

most important

v v
H GXYZ H Gxyz H Gxyz 0 i I p i I A k
R R
Local

v
H GXYZ I A i k I A j
v
R R

v v
CD H GXYZ I A j I A J
R R

Statics

Back View

M
M Fd F
d

Bearing force

v
I
mg R A
FAz
2 L
v
I
mg R A
FBZ
2 L
mv 2
FAX
R


Problem on Rotors (Gyro) :

The propeller on a single engine airplane of Fig, has a mass of 15 kg and a centroidal radius
of gyration of 0,3 m computed about the axis of spin. The propeller is mounted on a light
shaft supported by two bearing when viewed from the front of the airplane, the propeller is
turning clockwise at a rate of 350 rad/sec about the spin axis. The plane is in vertical curve
of radius R 80 m , and is travelling at a constant speed of 200 km/h, when reaches the
lowest position.







a) Determine the force exerted on the bearing of the propeller shaft du to
i) gravity effects
ii) centrifugal effects

b) Determine the gyroscopic couple produced by propeller.


data :

m 15 kg
I A 15 0, 3 1, 35 kg-m 2
2

350 rad/s
v
v r
r
200 1000
0, 694 rad/s
3600 80

Axes Conversion :

I k
Axes K along precession
J i
Moving k along spin
K j
Angular velocity :

Moving axes K j

Moving body x i y j z k 0 j k

a)
i) Force due to gravity : FG mg i 15 9,81 i 147, 2 i N




ii) a 2 R i R i 0, 694 80 i 38, 5 i N/m 2
2

b) Gyroscopic couple H Gxyz

H I 2D

H G I yy y j I zz z k

H G H Gxyz H Gxyz H G I p j I A
k

y z
0



H G j I p j I A k


H G I A i

H G 328, 2 i N-m


CD 328, 2 i (dAlembert couple) Tends to yaw plane




Gyro compass steady Precession :

Only rotational motion takes place





















frame GXYZ is considered fixed
Outer gimbal precession rotates about pin axis AA relative to fixed axis
Inner gimbal mutation rotates about pin axis BB relative to outer gimbal
Gyro spin totates about pin axis CC relative to inner gimbal
3 parts to the compass independent motion wrt supporting parts
Gyro compass illustrates the most general rotational motion
, , Euler equation
Diagram gyro in its home position
Motion analysis Syntematic Approach
Derive equation + Gyro compass principle



1. Kinematics :

declare axes : 4 bodies but along two coordinate systems describe angular velocities

Axes GXYZ fixed
is about K (vertical)
Precession axis
IJ horizontal plane

Axes Gxyz is a rotating system
attachd to the inner gimbal NOT the gyro

j along BB

k along CC about k

G is at center of gyro mas
This is centrodal Axis system moment of inertia are constant in simple resolution of
IJK and ijk

Resolution between axes


This is the only conversion required


1 K sin i cos k



Angular velocity evaluation

Inner Gimbal Gxyz

K J

sin i cos k j

x z y

Gyro : k


sin i


j cos k

x y z

3 rotates this is the general

2. Kinetics :

DA Force set Gyro Then statics

Linear Momentum :

"G" is at the origin of Gxyz
G No translation Considering rotation aG 0, FD maG 0

Angular momentum
DA couple CD H G appears in M CD 0

Determination H G

Represent I Gz by I A moment of inertia k

I Gxx I Gyy by I p moment of inertia about i , j

For a disk
1
I A mr 2
2
1 2
I p mr
4

H G I


H G H x i H y j H z k I p x i I p y j I A z k (principal axes)
* * *

H G I p sin i I p j I A cos k H Gxyz

Dervative by formula :
H GXYZ H Gxyz H Gxyz


I p sin cos i I p j I A cos sin k sin i j cos k H Gxyz


where CD H GXYZ

Statics :

Moment equation M app CD 0

Results after expansion H G M G
M Gx
I p sin 2 cos I A cos (1)

M Gy I sin cos I sin cos

p
2
A (2)

M cos
d
Gz I A (3)
dt

1, 2, 3 Euler equation for gyro principle of gyri compass

Note : Solution to the equation is M Gx M Gy M z 0 cst., cst., cst.

More generalization steady precession 90
superimpose and translate

A set of vertical forces FA and FB must be applied to shaft
for equilibrium













Example steady precession 90 Rotating

Inclined disk













Vertical shaft undergoing precession of 2 about vertical axes light bar support a disk is

also rotating at steady rate of 1

Given m 0, 5 kg r 6 cm
L 20 cm 2 1 rad/s

Find 1 to make 30



















K sin j cos k I i

b) Angular velocities Gxyz 2 K

2 sin j 2 cos k


Gyro 1 k 2 sin j 1 2 cos k







FD m 2 RJ R L sin

Angular momentum

H G H y j H z k I y y j I z 3 k I y I p Iz IA
H G H Gxyz H Gxyz

H G 0, 451 0,1953 10 3 I solve and check


Statics

M A 0


R mg v m1 22 R CD 0

1 1075 rad/s
Balancing of Rotors :

Rotors :

Moving parts of turbines
Wheels
Crankshafts
Propellers
Flywheel

Due to faulty configuration, the mass center G is not on the axis of shaft :














What happens in this case when shaft rotates :
G has circular motion
inward acceleration
Outward centrifugal forces
Carried to bearing

This centrifugal forces changes as shaft rotates. The bearing forces change direction

Result :

Vibration of frame :
noise
loosen connection
wear
waste of Energy

BALANCING = is the modification of the original faulty construction to bring center of
mass G to its axis

this is done by adding a CW [Counter Weight]
Two cases of unbalance :

1. Static unbalanc

Add only one CW [Counter Weight]











2. Dynamic Unbalance

Unbalance > one plane

Add 2 CW [Counter Weights]











Case # 1 : Correcting a static unbalance













Propeller Problem :




Given : mi , i , ri all in one transverse plane
Over all G will not be on the center line of the shaft (Fabrication error)

Find : Counter weight to be added

Solution : When shaft rotates, centrifugal forces arises from mass
Forces are added to give a resultant forces.















Fs m112 r1 m2 22 r2 m332 r3 [rotating]
Correction [remedy]
We will add CW mass mc @ c , rc to make the total force equal to zero
rotate with



Solution for static imbalance :

FT FS mc 2 rc 0

where FT total dynamic force
FS dynamic force due to original masses
mc 2 rc due to conter weight (CW)

N

m r m r 0
n
2
n c
2
c
n1

2 common terms cancel



Condition of zero dynamic force : mnrn mcrc


This is a 2D vector equation for mc , rc


To solve : scalar form

m1r1 cos1 m2 r2 cos 2 ... mc rc cos c .............................................. (1)

m1r1 sin1 m2 r2 sin 2 ... mc rc sin c ................................................ (2)


two Equation for 2 Unknows mc rc and c sin 2 cos2 1


Square both sides and add Equations, take square root

2 1/2

mc rc mn rn cos n mn rn sin n
2

mn rn sin n
take ratio
2 tan c
1 mn rn cos n

Properties of CW [Counter weight] :

to eliminate SF [shaking force]

In Equation # 2, we must keep the sign (top & bottom) to get the right quadrant for c

Say

m r sin
n n n 3

m r cos
n n n 4









Correction
amount of
Please note : imbalance

Only the amount mc rc is determined :
designer choose individual values
bearing reaction not included
Gravity negligible

Case # 2 : Correction of Dynamic Imbalance














masses in several planes

CW [counter weight] in each of two planes acceeded

Each original mass produces a centrifugal force [shaking]


Correction we need two counter weights

mc1 @ rc1
on suggested balancing planes
mc2 @ rc2

Conter weight produces balance.



Analysis :

Analyze as a beam disregard bearing forces [unless stated otherwise]

For static balance want dynamic forces to balance each other

m1 2 r1 m2 2 r2 mc1 2 rc1 mc2 2 rc2 0


For N masses : m r m
n n r mc2 rc2 0
c1 c1

For Dynamic Balancing : take right counter balance as a reference


s1 k m1 r1 s2 k m2 r2 sc2 mc2 rc2 0
2 2 2

Fd moment Fd moment

2 k s1m1r1 s2 m2 r2 sc2 mc2 rc2 0


For N masses : s m r
n n n sc2 mc2 rc2


Expand this equation :

x component ii m1s1r1 cos1 m2 s2 r2 cos 2 ... mc2 sc2 rc2 cos c2

y component ii m1s1r1 sin1 m2 s2 r2 sin 2 ... mc2 sc2 rc2 sin c2

Square i and ii , then add, take square root :

1
m s r cos m s r sin
2 2
mc2 rc2 n n n n n n n n correction factor
sc2

Axial distance

mn sn rn sin n
For angular position : c2 tan 1

mn sn rn cos n




Exemple # 1 :

The rotor of Figure has the following unbalanced amounts
m1r1 1500 Kg mm, m2 r2 2000 Kg mm and m3r3 1500 Kg mm
Balance the rotor by determining the angular orientation and correction amount for a

counter weight in plane P and axial location and angular orientation of the second counter
weight having a connection amount 1000 Kg mm at Q .



















i, j, k given if not : make a appropriate assumption

Solution :


2 F1 1500 0, 707 i 0, 707 j 1060 i 1060 j


2 F2 2000 j


2 F3 1500 0, 5 i 0,866 j


2 Fc F cos i sin j at P
1

2 Fc 1000 cos 1 sin 1 j at Q
2
Counter weight at Q : take moments about P (omit 2 )


sc2 k 1000 cos 1 i 1000sin 1 j 2 k 750 i 1300 j 1, 4 k 2000 j 0, 5 k 1060 i 1060 j 0

do the cross product :

1000sc2 sin 2600 2800 530 0
1000sc2 cos 1500 530 0

sc2 sin 0, 33
sc2 cos 0, 97

sc22 0, 332 0, 972 1, 0498 sc2 1, 025 Axial position

sin 0, 322 cos 0, 946 18, 78 (radial angular)

Counter weight at P :

Summation of forces (omit 2 )


1000 cos18,8 i sin18,8 j 1060 i 1060 j 2000 j 750 i 1300 j F cos i sin j 0

F cos 946 1060 750 1256

F sin 322 1060 2000 1300 38

F 1256 2 382 1257 (correction factor)


1256
cos 0, 995 178,18 angular
1257

38
sin 0, 0302 1, 732
1257

Counter weight at P is mr correction factor
 Course Review

Machine Dynamics :

Predict motion and forces in moving machine parts

Provide input data for design and operation of such parts

Review topics :

1) Kinematics
2) Static and Dynamics
3) Gyro action
4) Balancing

1) and 2) = Mechanisms

3) and 4) = Rotors

This is an engineering subject
Need judgement
Analytied skill

1 Mechanisms closed chain

a) Inverse motion of links (link kinematics)
b) Forward motion of special points (Particle Kinematics)

a) Inverse
position mechanism close loop equation
velocity Ist derivative of loop closure equation
acceleration 2nd derivation of loop closure equation (switch to 2D scalar)

Efficient notation help :

Exemple
single loop 4 bar

Given : motion of input link
Find : motion of other links

Loop closure equation
r1 cosq r2 cos 1 r3 cos 2 r0 0
r1 sin q r2 sin 1 r3 sin 2 0

 2 equation for each loop start at a point fixed link and return to that point
split up moving and unchanging vectors


b) Forward 2D write scalar expressions for coordinates of special points

r r
x r1 cos q 2 cos 1 y r1 sin q 2 sin 1
2 2
x y
x y

Sometimes we need relative motion equation


RP R0 r


vP v0 r



aP A0 r r




2 Statics and dynamics

a) Vector static : 2D write 3 equations for each body













Link 2
M B 0 Cx
unknows only
M D 0 Cy

 b) Virtual Work


set up virtual velocity field analyze for assumed 1 , carry out the Kinematic analysis

2 , v p2

For equilibrium

T F
n n m vm 0


T11 c2 2 F2 x v2 x F2 yV2 y 0 q




c) Kinostatics

Given motion of input & mechanical characteristics
Find Forces associated with that motion
Solve for one instant

Include masse of inertia

1) Kinematics find motion of driven links n , n
acceleration of center (c) of mass (m)

2) DAlembert force set :
FDN mn an
2D

CDN H GN I N N k

If crank is balanced then c of mass is stationary, then : FD 0

If 1 0 1 const. then : CD1 0

3) Conduct static analysis but include DAlembert Force set
i. quation of Equilibrium for full analysis
ii. Virtual work to find driving torque

Text Fext V CD FD V 0

Newton Force D'Alembert

3 Gyro Action occurs if there are 2 or more non parallel angular
velocity components

SP Steady Precession
p const.
s const.
const. nutation




1) Kinematics

a) Axes Label Consistently

K along precession axis part of fixed frame OXYZ

k along spin axis part of moving frame Gxyz [not attached to body]

b)

2) Kinetics

a) DAlembert Force set

FD maG if G is circular : aG 2p R


H G H x i H y j H z k i , j, k moving frame

x i y j z k

For centrodal PA

H G I x x i I y y j H z z k H I




CD H GXYZ H Gxyz H GXYZ
in most case H Gxyz 0

local term Gyro term

Local term is zero only if I x , I y , I z and x , y , z are constant
gyroterm is zero only if there is just a single components

 For Finding velocity
angular velocity of moving frame p K
s spin velocity of body (gyro) wrt moving frame


s k angular velocity of rotation (Gyroaction)

We calculate the velocity after the axis labels

b) Statics FBD write static equation of motion include DAlembert
Force set

s p 90








4 Balancing of Rigid Rotors

a) Single Plane
b) Multiplane

Single plane :

angular

r radial


Add one CW [Counter weight] in the same plane

F F F
T S CW 0

Include dynamic forces only, c , mc rc


Multiplane :

To balance add CW in 2 planes

Position of L, R are normally given










FT 0
For complete balance T total (about on axial point)
T
C 0

Actually it is better to write couple equation
one about L
one about R

Properties of 2 CW

mci rci and Ci i 1, 2
correction amout

Add one CW [Counter weight] in the same plane

FT FS FCW 0 1 r1 2 r2 3 r3 0



Exam note :

20th Dec
3 hours Exam closed books / notes
4 problems equal # of marks spend time on Each problem
Mechanisms (2D and 3D) : 2 problem including Kinostatics
Rotors (Gyro Action and Balancing) : 2 questions
Solve past year exams (same difficulty)
All board problems + problems sheets + DGD problems + Assigned problems
Write clearly
Proper spacing between cycles
Vector diagrams where necessary
Make engineering assumption if needed