ME451KinematicsandDynamicsofMachineSystems.pptVIP

ME451 Kinematics and Dynamics of Machine Systems Dynamics of Planar Systems March 24, 2009 Chapter 6 Before we get started… Last Time Discussion about numerical methods Emphasis placed on numerical integration methods Pointed out the difference between ODE and IVP Discussed explicit integration methods: Euler, RK4, Predictor-Corrector Discussed implicit integration methods: Backward Euler Discussed about MATLAB offering when it comes to solution of IVPs We will rely on numerical integration methods when numerically solving the IVP associated with the set of Newton-Lagrange equations of motion The solution of this problem gives the time evolution of the mechanical system Today Start Chapter 6: Dynamics Work on Sections 6.1.1 and 6.1.2 HW (due March 31): 6.1.1, 6.1.2, 6.1.3, and 6.1.4 ADAMS Component available on the website Purpose of Chapter 6 At the end of this chapter you should understand what “dynamics” means and how you should go about carrying out a dynamics analysis We’ll learn a couple of things: How to formulate the equations that govern the time evolution of a system of bodies in planar motion These equations are differential equations and they are called equations of motion As many bodies as you wish, connected by any joints we’ve learned about… How to compute the reaction forces in any joint connecting any bodies in the mechanism Understand how to properly handle the applied (aka, external) forces to correctly use them in formulating the equations of motion The Idea, in a Nutshell… First part of the class: Kinematics You have as many constraints (kinematic and driving) as generalized coordinates No spare degrees of freedom left Position, velocity, acceleration found as the solution of algebraic problems (both nonlinear and linear) We do not care whatsoever about forces applied to the system, we are told what the motions are and that’s enough for the purpose of kinematics Second part of the class: Dynamics You only have a few constraints impo