Académique Documents
Professionnel Documents
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Date Content
Day 1 • Review of the basics of mechanics.
(01/08) • Kinematics of rigid bodies – plane motion of rigid bodies, angular
velocity vector, description of velocity and acceleration in relatively
moving frames.
Day 2 § Euler angles, Review of methods of momentum and angular momentum of system
of particles, inertia tensor of rigid body.
(03/08)
• Dynamics of rigid bodies - Euler's equation, application to motion of symmetric
tops and gyroscopes and problems of system of bodies.
Day 3 • Kinetic energy of a rigid body, virtual displacement and classification of
constraints.
(05/08)
• D’ Alembert’s principle.
Day 4 • Introduction to generalized coordinates, derivation of Lagrange's equation from D’
Alembert’s principle.
(07/08)
• Small oscillations, matrix formulation, Eigen value problem and numerical
solutions.
Day 5 • Modelling mechanical systems, Introduction to MATLAB®, computer generation
and solution of equations of motion.
JU – 2017/HL
(09/08)
• Introduction to complex analytic functions, Laplace and Fourier transform.
Day 6 • PID controllers, Phase lag and Phase lead compensation.
(11/08) • Analysis of Control systems in state space, pole placement, computer simulation
through MATLAB. 1
DMS6021 - Dynamics and Control of Mechanical Systems
Content
4 Introduction
4 Symbols and designations
4 Kinematics of rigid bodies in a plane
4 Instantaneous center of motion/velocity
4 Analysis of rigid body motion (velocity and acceleration)
q Graphical methods to determine velocities and
accelerations
q Analytical methods to (briefly):
References
1. F. P. Bear, E.R. Johnston and P.J. Cornwell; Vector Mechanics for Engineers, Dynamics, 10th
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Edition
2. A. Bedford and W. Fowler, Engineering Mechanics – Statics and dynamics principles
3. D.T. Greenwood, Advanced dynamics, Cambridge University Press (2006)
4. G. Gray, et al.,-Engineering Mechanics - Dynamics-McGray (2010)
DMS6021 - Dynamics and Control of Mechanical Systems 2
Introduction
4 Study of the Kinematics of rigid bodies (mechanisms) :
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- Sum of translation
- direction of any straight line - All particles in the
and rotation
inside the body is constant, body have the same
- all particles forming the body angualr velocity and
move in parallel lines. angular acceleration
!
- All particles have the same ! dr ! !
v= =w´r
dt
velocity and the same ! ! !
w = w k = q" k is ang. velocity
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acceleration.
! ! ! ! ! ! ! !
vB = v A and aB = a A dw !
= a = a k = w" k = q""k
dt
v =ω xr
DV = DVt + DVn
Dr dr
V = lim =
Dt dt
DVn V2
DV dV an = an = lim =
a = lim
Dt
=
dt
Dt r
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Instantaneous
center of zero
velocity
For the car to be able to drive along a curve without sliding, all the
axles of the wheels indicate towards the same point, which is an
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è The car (at the moment) is undertaking a rotational motion about point O
DMS6021 - Dynamics and Control of Mechanical Systems 11
14
Example 1
Example 2
Example 3
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Kennedy´s Theorem
4 Kennedy´s Theorem
Gives the basis for a systematic decisions of the number and location of
instantaneous center of velocity
The Theorem is expressed as follows
For relative motion of three randomly selected parts, the three ICVs are
located on a straight line segment
NB: The Theorem is valid if only one of the parts is in motion or both are in
motion
Example:
Kennedy´s theorem for
two parts in sliding contact
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http://web.mit.edu/linkagedemo/www/linkageanimation.html
DMS6021 - Dynamics and Control of Mechanical Systems 18
Kennedy´s Theorem, an example
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9. When the ICV is localized, draw the chord with a solid line.
10. Go back and repeat the procedure from step 5 until all ICVs are localized on the
mechanism
DMS6021 - Dynamics and Control of Mechanical Systems 20
Kennedys teorem og grafiske løsninger
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VA = O’A’:
perpendicular to CA
VB = O’B’:
perpendicular to DB
VBA = A’B’:
perpendicular to AB
Velocity polygon
aB = aA + aBA
aBn + aBt aAn + aAt aBAn + aBAt
sr r sr sr sr r
aAt
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Acceleration polygon
22
DMS6021 - Dynamics and Control of Mechanical Systems
Illustrative example
§http://www.softintegration.com/chhtml/toolkit/mechanism/fig/fourbar/animation.gif
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Example exercise
VB = 5,0
VCB = 5,0
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C’
O’
VC = 5,0
Analytical approach
Relative motion of point B wrt A:
- Velocity: VB = VA + VBA
- Acceleration: aB = aA + aBA
- Acc. Components: aBn + aBt = aAn+ aAt + aBAn+ aBAt
Vector exp ression of velocity and acc. components
A 4 bar linkage mechanism ! !
V = w x r, (magn. v = wr )
! ! !
a n = w x V = w x (w x r ), (magn. an = w 2 r )
®
! ! ! . !
a t = α x r =w x r (magn. at = a r )
VA = w x r = w 2 k x x A i + y A j ( )
- w2 y A i + w2 x A j
i j k
ixi= jx j =k x k =0 VA = w x r = 0 0 w2 = - w2 y A i + w2 x A j
ix j =-jxi =k xA yA 0
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j x k = -k x j = i i j k
k x i = -i x k = j ( )
a n = w x w x r = w2 k x 0 0 w2 ( )
= - w22 x A i + w2 y A j = - w22 r
xA yA 0
?
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Exercise
An oil pumping rig is shown in the figure below. The flexible pump rod D is fastened to
the sector at E and is always vertical as it enters the fitting below D. The link AB causes
the beam BCE to oscillate as the cranked weight OA revolves. If OA has a constant CW
speed of 1 rev every 3 s, determine the acceleration of the pump rod D when the beam
and the crank OA are both in the horizontal position as shown.
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