MEKinematics and Dynamics of Machine Systems9.pptVIP

ME451 Kinematics and Dynamics of Machine Systems Dynamics of Planar Systems May 07, 2009 EOM in non-Cartesian Reference Frames~ not in textbook~ Before we get started… Last Time Inverse Dynamics Analysis Equilibrium Analysis Covered two examples Today: Discuss about formulating the EOMs using a set of generalized coordinates (GCs) different than the Cartesian GCs The idea is that you use precisely the same ingredients that you use in the Cartesian case You need only one additional thing – a “bridging” function that tells you how the Cartesian GCs are obtained in terms of the new GCs that you prefer to use Looking ahead Final Exam is one week from Friday Bring your take-home component Bring your final project if you chose to do one Course Evaluation Please comment on what you didn’t like about this class Please comment on what you liked about this class Please comment on the use of ADAMS in this class Any departing thoughts you might have for me Today lecture’s Question: You have a mechanism and are interested in finding its time evolution What if you want to express the equations of motion (EOM) in a set of generalized coordinates that is not Cartesian? Example: Simple Pendulum Why not use the angle ? to express the time evolution of the pendulum? Non-Cartesian GCs: Further comments Benefits of working with non-Cartesian GCs: You might be able to formulate the problem as an ODE problem as opposed to a DAE problem as it is almost always the case when you use Cartesian coordinates For ODE problems you don’t have the complications deriving from the use of Newmark’s formulas, and using any classical numerical integration formula will do The dimension of the problem in general is reduced Typically, you can reduce it all the way to having a number of differential equations equal to the number of degrees of freedom associated with your mechanism Example: For the simple pendulum you’d have one second order ODE For the double pendulum you’d have two sec