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Simulation and Animation of Kinematic and Dynamic Machinery Systems With MATLAB

This paper describes using MATLAB to simulate and animate kinematic and dynamic machinery systems. It presents a model of a four-bar linkage as a case study. The model is represented as differential equations that are numerically integrated in MATLAB to obtain angular displacements over time. These displacements are then used to animate the motion of the linkage by redrawing the component lines at each time step. The authors developed a GUI interface to allow users to vary simulation parameters and visualize the motion. The software is intended to help students learn kinematics and dynamics in a visual manner.

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89 views4 pages

Simulation and Animation of Kinematic and Dynamic Machinery Systems With MATLAB

This paper describes using MATLAB to simulate and animate kinematic and dynamic machinery systems. It presents a model of a four-bar linkage as a case study. The model is represented as differential equations that are numerically integrated in MATLAB to obtain angular displacements over time. These displacements are then used to animate the motion of the linkage by redrawing the component lines at each time step. The authors developed a GUI interface to allow users to vary simulation parameters and visualize the motion. The software is intended to help students learn kinematics and dynamics in a visual manner.

Uploaded by

Hariharan
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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Download as PDF, TXT or read online on Scribd
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Session 1620

Simulation and Animation of Kinematic and


Dynamic Machinery Systems with MATLAB
Cole J. Brooking, Donald A. Smith
University of Washington / University of Wyoming

Abstract
This paper describes the application of MATLAB1 to the problem of determining the motions
and forces in kinematic (prescribed motion) and dynamic (prescribed driving force) machinery
systems and the animation of the system motions. Depending on the specific information which
is required, the machinery system motions are determined from the kinematic loop equations
utilizing velocity or acceleration constraints. This treats the motion problem as an ordinary
differential equations, initial value problem. For kinematic machinery systems, the reaction
force problem is uncoupled from the motion problem. For dynamic machinery systems, the
motion and reaction force problems are directly coupled. MATLAB has proven to be a very
effective tool for both defining these problems in a mathematical model and for the solution of
that model.

In addition to the numerical capabilities of MATLAB, the graphics utilities, and in particular the
enhanced handle graphics of MATLAB 5, provide a means of displaying the motions of these
machinery systems in the form of a short animation. This animation is very effective in helping
the contemporary, visually oriented, student understand the motions associated with machinery
systems.

Introduction
Earlier work 2,3 focused on representing kinematic and dynamic machinery system models as a
set of coupled nonlinear ordinary differential equations, and, for specific kinematic systems, the
animation of the motion of the system 4. More recently, several faculty at the U.S. Naval
Academy reported the use of MATLAB graphics capabilities to animate aspects of their systems
engineering courses 5. This latter work was the inspiration to extend previous efforts with
kinematic and dynamic machinery systems by incorporating the numerical integration of the
system differential equations with an animation capability, the major topic of this paper.

The System Model


In order to minimize detail and focus on the animation aspect of the present work a velocity
based kinematic simulation of a four bar linkage will be considered. The kinematic skeleton of a
typical mechanism is shown in Fig. 1.

This figure is what appears on the monitor for one of the devices simulated and animated with
MATLAB. The mechanism is represented mathematically by a set of vectors which form a
closed loop. Vector R1 goes from the fixed pivot of the output link on the right to the fixed pivot
of the input crankshaft on the left. Vector R2 goes from the fixed pivot of the crankshaft to the
crank-coupler connection. Vector R3 represents the coupler and vector R4 represents the
follower, both
of these latter vectors following a generally clockwise loop direction. The position constraint
Page 3.494.1

equation is then
R1 + R2 + R3 + R4 = 0 (1)

Differentiating the position constraint equation once and taking i and j components results in a
set of velocity constraint equations which can be used to model the kinematic system and obtain
the motion of the linkage configuration. The resultant scalar equations are:

 − R3 sin(Θ 3 ) − R4 sin(Θ 4 )  ω 3   R2 ω 2 sin(Θ 2 ) 


   =  (2)
 R3 cos(Θ 3 ) R4 cos(Θ 4 ) ω 4  − R2 ω 2 cos(Θ 2 )

These equations are implemented and solved for the angular velocities ω3 and ω4. The
MATLAB function ODE23 uses the low order Runge-Kutta method to integrate the angular
velocities to angular displacements. If more accurate results are desired, the higher order Runge-
Kutta method could be used by calling ODE45. The resultant angular displacements are used to
animate the system.

Figure 1: A typically modelled mechanism.

Animation of the Linkage System


Animating the resulting angular displacements is a fairly simple operation using the Handle
Graphics routines in MATLAB. A line is defined for each link in the kinematic system. To
animate the system, these lines are deleted and redrawn for each time step in the solution, with a
Page 3.494.2

delay between each step equal to the inverse of the desired framerate. The lines are created with
an important property: their ‘erasemode’ is set to ‘xor.’ This allows MATLAB to redraw only
the lines at each time step, significantly reducing the animation flicker and increasing the
maximum available framerate.

While this animation may be a fairly straightforward task for an experienced MATLAB
programmer to implement for a single kinematic mechanism, it would be quite an ordeal for a
student studying kinematics. To minimize this additional effort, the advanced properties of
MATLAB Handle Graphics have been utilized to create a GUI for solving and animating various
kinematic systems, given the differential equations of motion for each system. The user can
specify the initial and final times of the solution, the number of time steps involved, and the
framerate at which the solution will be displayed. The dimensions of the links in the model and
their positions can also be varied via a simple ‘click-and-drag’ interface within the simulation
window. This allows the student to experiment with different designs and to visualize their
effects quickly.

In addition to allowing variations in the mechanism itself, the GUI allows the user to choose a
point anywhere along the moving links. The path this point moves through can then be traced as
the animation progresses. This allows for concrete visualization of the complex motions
involved.

Conclusion and Software Availability


A MATLAB based analysis and animation package for use in a kinematics and dynamics of
machinery course has been reported. It is anticipated that the animation capabilities will appeal
to contemporary students, typically more attuned to a visual learning mode than their
predecessors. The software has considerable flexibility, allowing the student to explore "what if"
scenarios by changing link lengths and monitoring the motion of points on the individual links.

The MATLAB code reported here can be downloaded from


http://www23.pair.com/epsilon3/kin/. It is suggested that the seven downloaded files be placed
in a folder inside the MATLAB folder. In order to run the program, extend the MATLAB path
to include the folder where the code resides and enter kinimate from the MATLAB control
window. On some machines it is advantageous to precede the kinimate command with clear all
and set(0,'units','points').

References
[1] The Math Works, Inc.,MATLAB Using MATLAB Version 5, Natick,MA., 1997
[2] Smith, D.A., R.G. Jacquot & D.L. Whitman, " Digital Simulation of Kinematic Machinery
Systems", The International Journal of Engineering Education, V8 #2, 1992, pp. 132-137
[3] Smith, D.A., R.G. Jacquot & D.L. Whitman, " Digital Simulation of Dynamic Machinery
Systems", The International Journal of Engineering Education, V8 #6, 1992, pp. 461-465
[4] Smith, D.A., R.G. Jacquot & D.L.Whitman, "A Software Package to Enhance the Teaching
of Engineering Dynamics." Computer Applications in Engineering Education, V3 # 7 1995,
pp. 21-28
Page 3.494.3
[5] Watkins, J., G. Piper, K. Wedward, & E.E. Mitchell, "Computer Animation: A Visualization
Tool for Dynamic System Simulations", Proc. 1997 ASEE Annual Conference, Session
1620, June 1997
Cole J. Brooking is currently a Graduate Student in Mechanical Engineering at the University of Washington.
After receiving his BSME from the University of Wyoming, he interned at The Mathworks, Inc., studying
Mechanical Engineering applications of MATLAB. His current research work involves shape skeleton based design
optimization.

Donald A. Smith is currently a Professor of Mechanical Engineering at the University of Wyoming. He


received his BSME and M.Sc. degrees from The Ohio State University and his Ph.D. from the University of
Michigan. Prior to joining the University of Wyoming he was employed with Xerox and IBM. His academic
interests are in the areas of Mechanical Component Design, Kinematics and Dynamics of Machinery, and Computer
Aided Design. Current research activity is focusing on web based mechanical component design.

Page 3.494.4

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