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Assignment 1

This document contains information about a system of linked bodies, including: 1) A coefficient matrix describing the system. 2) Equations of motion for 4 linked bodies, relating forces and torques between links. 3) The solution vector giving forces, torques, and reaction forces in the system.

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Manoj Kumar
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26 views4 pages

Assignment 1

This document contains information about a system of linked bodies, including: 1) A coefficient matrix describing the system. 2) Equations of motion for 4 linked bodies, relating forces and torques between links. 3) The solution vector giving forces, torques, and reaction forces in the system.

Uploaded by

Manoj Kumar
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as XLSX, PDF, TXT or read online on Scribd
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Coefficient 1 0

matrix 0 1
-0.05 1.4
0 0
0 0
0 0
0 0
0 0
0 0
0 0
0 0
0 0
0 0
Q1

Fc1x = -Fc4x
Fc1y = -Fc4y

link 2
F12x + F32x = 0
F12y + F32y + Fh =0
RhFh + R12xF12y - R12yF12x + R32xF32y - R32yF32x = 0

link 3
F23x + F43x = 0
F23y + F43y = 0
R23xF23y - R23yF23x + R43xF43y - R43yF43x = 0

link 4
F14x + F34x = - Fc4x
F14y + FF34y = -Fc4y
R14xF14y - R14yF14x + R34xF34y - R34yF34x = -Rc4xFc4y + Rc4yFc4x

1 0 0 0 0 0 0 0 0 0
0 1 1 0 0 0 0 0 0 0
-0.08 2.2 -4.4 0 0 0 0 0 0 0
0 0 0 1 0 1 0 0 0 0
0 0 0 0 1 0 1 0 0 0
0 0 0 -0.13 -0.6 0.13 0.6 0 0 0
0 0 0 0 0 0 0 1 0 1
0 0 0 0 0 0 0 0 1 0
0 0 0 0 0 0 0 0.76 -0.16 -0.76
1 0 0 1 0 0 0 0 0 0
0 0 0 0 0 1 0 0 0 1
0 1 0 0 1 0 0 0 0 0
0 0 0 0 0 0 1 0 0 0

Sol: F12x 1513.578


F12y -381.004
F32x -1513.58
F32y 327.9418
Fh 53.0622
F23x 1513.578
F23y -327.942
F43x -1513.58
F43y 327.9418
F14x 442.7225
F14y -87.8782
F34x 1513.578
F34y -327.942
F21x -1513.58
F21y 381.004
F41x -442.723
F41y 87.8782
RHS
Matrix
0 0
0 0
0 0
0 0
0 0
0 0
0 1956.3
1 -415.82
0.16 -852.26
0 0
0 0
0 0
1 0

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