numericalanalysisforengineering.docVIP

NUMERICAL ANALYSIS FOR ENGINEERING MEAE - 4960 H02 Prof. Ernesto Gutierrez - Miravete Kinematic Analysis of a Four-Bar Crank Mechanism with a Redundant Constraint Roberto A. Alzaga December 9, 1999 INDEX Introduction…………………………………………………………………………..3 Theory and Analysis………………………………………………………………..4 General Coordinates…………………………………………………………4 Kinematic Constraint Equations………………………………………..4 Detection of Redundant Constraint…………………………………….5 Degrees of Freedom………………………………………………………….7 Driving Constraint……………………………………………………………7 System Constraint Equations…………………………………………….7 Determinant of System Constraints Jacobian Matrix…………….8 Evaluation of System Constraints Jacobian Matrix at Singular Point…………….…9 Evaluate Newtons Method for Position………………………………..9 Velocity Approximation………………………………………………….…10 Acceleration Approximation……………………………………………...10 Results………………………………………………………………………………..12 Results of the Double Pendulum Mechanism………………………..12 Results of the Four Bar Linkage Mechanism………………………..16 Four-Bar Linkage Position Error Comparison……………………….19 Conclusions………………………………………………………………………….21 Bibliography…………………………………………………………………………22 Appendix……………………………………………………………………………..23 Gaussian Elimination with Maple Commands and Inverse of Jacobian………………...23 Newtons Method for Double Pendulum………………………………..28 Newtons Method for Four-Bar Linkage…………………………….….35 INTRODUCTION Mechanical Systems are an integral part of our everyday life. Anything that is comprised by linkages, cams and gears is defined as a mechanical system. A mechanical system is defined as a collection of interconnected rigid bodies that can move relative to one another, consistent with joints that limit relative motion of pairs of bodies. The motion of a mechanical system may be prescribed by defining the time history of the position or relative position of some of its bodies. The motion of the system is then determined by algebraic kinematics relations or from differ