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    Prahasith Maddury
    This homework assignment involves deriving equations of motion for various planar multibody systems using the body-coordinate formulation method. It includes 10 problems involving constraints for contact between bodies, minimum degrees of freedom needed to model mechanisms, constraints for rolling contacts between discs and surfaces, and constructing equations of motion for systems with springs, dampers, and actuators between bodies subjected to gravity.

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    hw2 PDF

    Uploaded by

    Prahasith Maddury
    73 views2 pages
    This homework assignment involves deriving equations of motion for various planar multibody systems using the body-coordinate formulation method. It includes 10 problems involving constraints for contact between bodies, minimum degrees of freedom needed to model mechanisms, constraints for rolling contacts between discs and surfaces, and constructing equations of motion for systems with springs, dampers, and actuators between bodies subjected to gravity.

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    This homework assignment involves deriving equations of motion for various planar multibody systems using the body-coordinate formulation method. It includes 10 problems involving constraints for contact between bodies, minimum degrees of freedom needed to model mechanisms, constraints for rolling contacts between discs and surfaces, and constructing equations of motion for systems with springs, dampers, and actuators between bodies subjected to gravity.

    Copyright:

    © All Rights Reserved
    Download as PDF, TXT or read online from Scribd
    Download as pdf or txt
    73 views2 pages

    hw2 PDF

    Uploaded by

    Prahasith Maddury
    This homework assignment involves deriving equations of motion for various planar multibody systems using the body-coordinate formulation method. It includes 10 problems involving constraints for contact between bodies, minimum degrees of freedom needed to model mechanisms, constraints for rolling contacts between discs and surfaces, and constructing equations of motion for systems with springs, dampers, and actuators between bodies subjected to gravity.

    Copyright:

    © All Rights Reserved
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    of 2

    ME5360: Planar Multibody Dynamics

    Homework Assignment 2

    Problem 3

    Problem 1

    Problem 2
    Problem 4

    1. Two bodies, i and j, can translate and rotate in


    the plane. Describe the necessary constraints to tegrate to obtain the position constraints. Deter-
    keep point P on body i in contact with the flat mine the Jacobian matrix and the right-hand side
    surface of body j (shown as a line). Assume that of the acceleration constraint.
    this surface (line) extends without limit from ei-
    ther end. 5. Derive the constraint equation for a belt connect-
    ing two discs that are attached to a third body
    2. The mechanism shown has to be modeled by the by pin joints. Determine the Jacobian matrix and
    body-coordinate formulation. Determine the min- the right-hand side of the acceleration constraint.
    imum number of bodies, coordinates, and con-
    straint equations that are needed if:
    6. For the single pendulum shown, construct the
    (a) Only revolute and translational joint con- equations of motion. The following constant data
    straints are available are provided: rA 0 A 0
    0 = {0.1 0.3} , s
    1 = {0.11 0} ,
    (b) Revolute, translational, revolute-revolute, m1 = 0.2, and J1 = 0.03 (SI units). Evaluate
    and revolute-translational joints are all avail- the variable elements of the equations of motion
    able for formulation

    3. A Circular disc i and a flat surface j can translate


    and rotate in the plane. Describe the necessary
    constraints to keep the disc i rolling without slip-
    ping on the flat surface j. Determine the Jacobian
    and the right-hand side array of the acceleration
    constraint.

    4. Derive the constraints for two rolling discs (no-


    slip) that are pinned to a third moving body. De-
    rive the constraints for the velocites first then in- Problem 5

    1
    Problem 8

    Problem 6

    Problem 7
    Problem 9

    for the following coordinates and velocities: c1 =


    {0.15 0.20 120◦ }0 and ċ1 = {−0.10 −0.11 −2.0◦ }0 . acts on the system. The following data are pro-
    vided: m1 = 4.0, J1 = 0.8, m2 = m3 = 1.5,
    J2 = J3 == 0.15 (SI units)
    7. Two rods are pinned to the ground as shown. The Construct the equations of motion for this system.
    lengths of the rods are 1.5 and 2.0 units respec-
    tively. A spring-damper-actuator element is con-
    nected between the free ends of the rods having
    the following characteristics: k = 100, 0 l = 2,
    dc = 200, (a) f = 30. In the shown configuration,
    the angular velocities of the two bodies are, re-
    spectively, 1 rad/sec, CW, and 2.5 rad/sec, CCW.
    Construct the equations of motion for this sys-
    tem. Assume m1 = 0.8, J1 = 0.15, m2 = 1.2, and
    J2 = 0.40.

    8. The multibody system shown consists of two mov-


    ing links, a revolute joint, a sliding joint, and a
    spring. Gravity acts on the system. The follow-
    ing data are given: m1 = 5.0, J1 = 0.5, m2 = 3.0,
    J2 = 0.4, k = 20, 0 l = 2.0
    Construct the equations of motion for the system.

    9. The multibody system shown is a slight variation


    of the system described in the previous problem
    and is represented by the same set of data. Con-
    struct the equations of motion for the system.

    10. The multibody system shown consists of three


    moving links and three revolute joints. Gravity Problem 10

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