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Chapter 2 - Review Dynamics

1) Lagrange's method is used to derive the equations of motion for mechanical systems. It involves calculating the kinetic energy (K) and potential energy (P) of the system and determining the Lagrangian (L), which is defined as K - P. 2) Using the Lagrangian, Lagrange's equations are then used to derive the equations of motion for the system. This is done by taking derivatives of L with respect to the generalized coordinates. 3) Several examples are provided to demonstrate applying Lagrange's method, including a mass-spring system, simple and double pendulums, and a two-link robotic arm.

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Tam Pham
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70 views19 pages

Chapter 2 - Review Dynamics

1) Lagrange's method is used to derive the equations of motion for mechanical systems. It involves calculating the kinetic energy (K) and potential energy (P) of the system and determining the Lagrangian (L), which is defined as K - P. 2) Using the Lagrangian, Lagrange's equations are then used to derive the equations of motion for the system. This is done by taking derivatives of L with respect to the generalized coordinates. 3) Several examples are provided to demonstrate applying Lagrange's method, including a mass-spring system, simple and double pendulums, and a two-link robotic arm.

Uploaded by

Tam Pham
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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MECHATRONICS SYSTEMS

CHAPTER 2
REVIEW DYNAMICS
LAGRANGE’S METHOD

Assoc.Prof.Dr Vo Tuong Quan

HCMUT - 2017
Lagrange’s Method
Lagrange’s method:
1. Calculate the kinetic energy of system (K or T)
1 2
K  mv
2
2. Calculate the rotation kinetic energy of system (K or T)
1 2
K Rot  I
2
3. Calculate the potential energy of the system (P or V or U)
P  mgh
 Lagrange equation: L = K – P d  L  L
Then: Calculate the equation    0
(Called Lagrange’s Equation) dt  q  q 2
 2011 – Vo Tuong Quan
Lagrange’s Method
Mass Spring system

1 2
K  mx 2
d x
2  m 2  kx  0
1 2 dt
P  kx
2
1 2 1 2
 L  K  P  mx  kx
2 2 3
 2011 – Vo Tuong Quan
Lagrange’s Method
Multi degree of freedom system

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 2011 – Vo Tuong Quan
Lagrange’s Method
Simple pendulum

 We need to transform the coordinate

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 2011 – Vo Tuong Quan
Lagrange’s Method
Simple pendulum

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 2011 – Vo Tuong Quan
Lagrange’s Method
Double pendulum

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 2011 – Vo Tuong Quan
Lagrange’s Method
Double pendulum

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 2011 – Vo Tuong Quan
Lagrange’s Method
Double pendulum

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 2011 – Vo Tuong Quan
Lagrange’s Method
Double pendulum

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 2011 – Vo Tuong Quan
Lagrange’s Method
Using Lagrange’s method to calculate the dynamic
equations of two-link elbow planar arm

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Lagrange’s Method

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Lagrange’s Method

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Lagrange’s Method

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Lagrange’s Method

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Lagrange’s Method

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 2011 – Vo Tuong Quan
Lagrange’s Method
Modeling and designing a PID controller for an Inverted
pendulum (M) mass of the cart
(m) mass of the pendulum
(b) coefficient of friction for cart
(l) length to pendulum center of mass
(I) mass moment of inertia of the
pendulum
(F) force applied to the cart
(x) cart position coordinate
() pendulum angle from vertical (down)

Source: http://ctms.engin.umich.edu/CTMS/index.php?example=InvertedPendulum&section=SystemModeling
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Lagrange’s Method

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Lagrange’s Method

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