2.72 Elements of Mechanical Design: Mit Opencourseware

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2.72 Elements of Mechanical Design

Spring 2009
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2.72
Elements of
Mechanical Design
Lecture 05: Structures
Schedule and reading assignment

Quizzes
Quiz None
Topics
Finish fatigue
Finish HTMs in structures
Reading assignment
None
Quiz next time on HTMs
Martin Culpepper, All rights reserved 2

Matrix Review
What is a Matrix?
A matrix is an easy way to b1

represent a system of linear
b
equations
Linear algebra is the set of
2
rules that governs matrix Vector
and vector operations
a1 a2
a
3 a4
Matrix

Matrix Addition/Subtraction
You can only add or subtract matrices of the same dimension
Operations are carried out entry by entry
a1 a2 b1 b2 a1 + b1 a2 + b2
a + =
3 a4 b3 b4 a3 + b3 a4 + b4
(2 x 2) (2 x 2) (2 x 2)
a1 a2 b1 b2 a1 b1 a2 b2
a =

3 a4

b3 b4
a3
b3 a4 b4
(2 x 2) (2 x 2) (2 x 2)

Matrix Multiplication
An m x n matrix times an n x p matrix produces an m x p matrix
a1 a2 b1 b2 a1b1 + a2b3 a1b2 + a2b4

a =
3 a4
b3 b4

a3b1 + a4b3 a3b2 + a4b4
(2 x 2) (2 x 2)
(2 x 2)

Matrix Properties
Notation: A, B, C = matrix , c = scalar

Cumulative Law: A+B=B+A
Distributive Law: c(A + B) = cA + cB
C(A + B) = CA + CB
Associative Law: A + (B C) = (A + B) C
A(BC) = (AB)C
NOTE that AB does not equal BA !!!!!!!

Matrix Division
To divide in linear algebra we multiply each side by an inverse
matrix:
AB = C
A-1AB = A-1C
B = A-1C
Inverse matrix properties:

A-1A = AA-1 = I (The identity matrix)
(AB)-1 = B-1A-1

Structures
Machines structures
Structure = backbone = affects everything
Satisfies a multiplicity of needs

Enforcing geometric relationships (position/orientation)
Material flow and access
Reference frame
Requires first consideration and serves to link modules:
Joints (bolted/welded/etc)
Bearings
Image removed due to copyright restrictions. Please see

Shafts http://www.clarkmachinetools.com/2003_1.jpg
Parts
Tools
Sensors
Actuators

Key issues with structural design
Machine concepts
Topology Image removed due to copyright restrictions. Please see
http://www.fortune-cnc.com/uploads/images/1600ge_series.jpg
Material properties
Principles
Thermomechanical
Elastomechanics
Kinematics
Vibration
Key tools that help

Stick figures
Parametric system/part error model
Visualization of the:
Load path
Vibration modes
Thermal growth
Modeling: stick figures
Image removed due to copyright restrictions. Please see

http://americanmachinetools.com/images/diagram-lathe.jpg
1 3
2
1. Stick figures These types of models
are idealizations of the
2. Beam bending physical behavior. The
designer must KNOW:
3. System bend.
(a) if beam bending
assumptions are valid
(b) how to interpret

and use the results o
this type of these
models
1 3
x
z
2

Transformation
Matrices
Translational
TranslationalTransformation
TransformationMatrix
Matrix
Y
P=(A+L
P=(A, B)1, B+L2)=(A, B)
B
Y
L1
X
A
L2
A 1 0 L1 A
X B = 0 1 B
L2
1 0 0 1 1

Translational Transformation Matrix
General 2D transformation matrix
1 0 X
0 1 Y
0 0 1
1 0 L1
0 1 L2
0 0 1

Rotational
RotationalTransformation
Matrix
Y
Y P=(A, B)
P=(A, B) B
X
B

X
A

Rotational
Matrix
Y P=(A, B)
X
B

X
A = A cos + B sin

Rotational Transformation Matrix
Y P=(A, B)
X
B

X
A = A cos + B sin
B = -A sin + B cos

Rotational
Matrix
Y
Y P=(A, B) B
X
B
A cos sin 0 A
A
B =
-sin cos 0 B
A = A cos + B sin 1
1 0 0 1
B = -A sin + B cos

Rotational
Matrix
Y
Y (+) Counter Clockwise
X cos sin 0
General 2D rotational
matrix:
-sin cos 0
0 0 1
X
Y Y
(-) Clockwise
cos -sin 0
sinsin
cos cos
0 0
0 0 0 1
-sin cos
X

0 0 1
X
Homogeneous Transformation Matrix
General 2D HTM translational and rotational matrix:
cos sin x
-sin cos y
0 0 1

HTM Applications
Simple
SimpleBeam
BeamExample
Example:
Y Y
B A
X X
F
L

Simple
SimpleBeam
BeamExample
Example:
Y
A X
Y
B D
X F

Useful
ForceForce-deflection Equations
Deflection Equations
d
FL
d=
EA
F
d FL3 FL2
d= =
3EI 2EI
F
d
ML2 ML
d= =
2EI EI
M

Simple
SimpleBeam
BeamExample
Example:
Y
A X
Y
B D
X
L
B A
L cos -sin L 0 FL3
D=
H
B D =
A = sin cos D 0 3EI
1 0 0 1 1 FL2
=
2EI

Drill Press
Simple Example
Beam Example:
Find the HTM from a to b:
L b
c b
D a
H a
F
F
1 0 0
d
L e
Ha =
b 0 1 -(D-)
0 0 1
Cross-Sectional Area of large sections = A
Cross-Sectional Area of Drill Bit = Ad
Youngs Modulus of Material = E
Useful
d
FL
d=
EA
F
d FL3 FL2
d= =
3EI 2EI
F
d
ML2 ML
d= =
2EI EI
M

Drill Press
Simple Example
Beam Example:
Find the HTM from a to b:
L b
c b
D a
H a
F
F
1 0 0
d
L e
Ha =
b 0 1 -(D-)
0 0 1
Cross-Sectional Area of Drill Bit = Ad =
FD
EAd
Drill Press
Simple Example
Beam Example:
Find the HTM from b to c:
L
c b
c b
D
H a F
F
cos -sin L
d
L e c Hb = sin cos
0 0 1

Useful
d
FL
d=
EA
F
d FL3 FL2
d= =
3EI 2EI
F
d
ML2 ML
d= =
2EI EI
M

Drill Press
Simple Example
Beam Example:
Find the HTM from b to c:
L
c b
c b
D
H a F
F
cos -sin L
d
L e c Hb = sin cos
0 0 1

Cross-Sectional Area of Drill Bit = Ad =
FL3
3EI
=
FL2
2EI
Drill Press
Simple Example
Beam Example:
Find the HTM from c to d:
L F
c b c
D FL
H a
d
L e d
cos -sin -1

Hc =
d
sin cos H+2
0 0 1
Useful
d
FL
d=
EA
F
d FL3 FL2
d= =
3EI 2EI
F
d
ML2 ML
d= =
2EI EI
M

Drill Press
Simple Example
Beam Example:
Find the HTM from c to d:
L F
c b c
D FL
H a
d
L e d
cos -sin -1

Hc =
d
sin cos H+2
0 0 1

FLH FLH2 FH
= 1 = 2 =
EI 2EI EA
Drill Press
Simple Example
Beam Example:
Find the HTM from d to e:
L
c b
D d F e
H a
F FL
d
L e
1 0 -L
Hd =
e 0 1 0
Cross-Sectional Area of large sections = A 0 0 1
Drill Press
Simple Example
Beam Example:
Find the HTM from a to e:
L
c b eH a = e Hd d Hc c Hb b Ha
D
H a
Find the vector aVe from e to a:
F
0
d
L e
aV
e = Ha
e 0
1
Method
Simplefor building
Beam systems HTM
Example:
Identify key nodes around the systems

structural loop
Create HTMs for each member between each
node
Multiply the members HTMs in the correct
order

More on HTMs
3D HTMs
1 0 0 X
For x-axis 0 cos sin x Y

rotation x
0 sin x cos x Z

0 0 0 1 For small :
cos()~1 & sin()~
cos y 0 sin y X
For y-axis 0 1 0 Y
rotation
sin y 0 cos y Z

0 0 0 1
cos z sin z 0 X
For z-axis sin cos z 0 Y
rotation z
0 0 1 Z

0 0 0 1
HTM Rotation
Remember order of multiplication matters:
180 90
deg deg
flip
right
90 180
deg deg
right flip
To combine a translation and rotation, again multiply the HTM matrices

together
Note that the order of the rotation and translation matrices does matter, so
makes sure the answer makes sense!!!

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MIT OpenCourseWare

2.72 Elements of Mechanical Design

Lecture 05: Structures

Schedule and reading assignment

Martin Culpepper, All rights reserved 2

A matrix is an easy way to b1

Martin Culpepper, All rights reserved 4

Martin Culpepper, All rights reserved 5

a1 a2 b1 b2 a1b1 + a2b3 a1b2 + a2b4

Martin Culpepper, All rights reserved 6

Notation: A, B, C = matrix , c = scalar

NOTE that AB does not equal BA !!!!!!!

Martin Culpepper, All rights reserved 7

Inverse matrix properties:

Martin Culpepper, All rights reserved 8

Satisfies a multiplicity of needs

Material flow and access

Requires first consideration and serves to link modules:

Image removed due to copyright restrictions. Please see

Martin Culpepper, All rights reserved 10

Key tools that help

Parametric system/part error model

Image removed due to copyright restrictions. Please see

(b) how to interpret

Martin Culpepper, All rights reserved 14

Martin Culpepper, All rights reserved 16

General 2D transformation matrix

Martin Culpepper, All rights reserved 17

Martin Culpepper, All rights reserved 18

Martin Culpepper, All rights reserved 19

Martin Culpepper, All rights reserved 20

Martin Culpepper, All rights reserved 21

General 2D HTM translational and rotational matrix:

Martin Culpepper, All rights reserved 23

Martin Culpepper, All rights reserved 25

Martin Culpepper, All rights reserved 26

Martin Culpepper, All rights reserved 27

Martin Culpepper, All rights reserved 28

Martin Culpepper, All rights reserved 30

Cross-Sectional Area of large sections = A

Martin Culpepper, All rights reserved 33

Cross-Sectional Area of large sections = A

Cross-Sectional Area of large sections = A

Martin Culpepper, All rights reserved 36

Cross-Sectional Area of large sections = A

Youngs Modulus of Material = E

Identify key nodes around the systems

Martin Culpepper, All rights reserved 40

For x-axis 0 cos sin x Y

To combine a translation and rotation, again multiply the HTM matrices

Martin Culpepper, All rights reserved 43

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