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Mechanics of Rigid Bodies ENR 209: Ashitava Ghosal

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21 views16 pages

Mechanics of Rigid Bodies ENR 209: Ashitava Ghosal

Uploaded by

sohamsolanki4545
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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Mechanics of Rigid Bodies

ENR 209
Ashitava Ghosal
Professor & Senior Associate Dean
School of Engineering and Applied Science
Ahmedabad University

Email: [email protected]

Ashitava Ghosal Mechanics of Rigid Bodies ENR 209


1
• Position and orientation of a rigid body in 3D space

• Linear velocity as a derivative of the position vector

• Concept of angular velocity from a skew-symmetric matrix


🡪 Space fixed and Body fixed angular velocity vectors

• Mass and Inertia of a rigid body


🡪 Mass is a scalar and Inertia is a 3 x 3 symmetric, positive definite matrix (Tensor)

• Concepts of linear and angular momentum of a rigid body

Ashitava Ghosal Mechanics of Rigid Bodies ENR 209 2


• When external moment is present, (say mg, acting at the centre of mass) – Solution is not straight forward
-- Solution in terms of elliptic functions
Three gimbal configuration
• Gimbals completely decouple the angular motion of moving
object from the rotating disk.
• As object moves, Θy and Θz measurement gives two Euler angles
• Two free gyros can give three Euler angles
• Drift due to friction at the joints

Two gimbals configuration (shown)

• Spinning rotor about X axis – spin axis


• Inner gimbal can rotate about Y axis perpendicular to spin axis
• Outer gimbal fixed to moving object can rotate about Z axis
Other ways to Measure Rotation

• Based on Coriolis effect 2ω x Vrel

• Resonating Mass is moved as shown


• Rotation of frame attached to the
moving body

Sense Fingers move sideways 🡪 Change of capacitance measured

Change of capacitance proportional to angular velocity ω

• Based on Sagnac Effect


• Based on Sagnac Effect • A CW and a CCW beam from a laser
• Two light beams traveling in opposite directions • Ring laser (annular cavity) show frequency shift
• Rotations induce a phase difference when cavity is rotating
• Measured phase difference • Single triangular glass block with passages
& mirrors placed inside
Assignments

Ashitava Ghosal Mechanics of Rigid Bodies ENR 209 15


Assignments

• What are elliptic equations? And where do they occur?

• Find out more about a MEMS Gyro? What is their typical sensitivity?

Ashitava Ghosal Mechanics of Rigid Bodies ENR 209 16

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