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Mechanics of Rigid Bodies ENR 209: Ashitava Ghosal

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15 views40 pages

Mechanics of Rigid Bodies ENR 209: Ashitava Ghosal

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sohamsolanki4545
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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
• Rigid body has 6 degrees of freedom – 3 translational + 3 rotational

• Connected rigid bodies – DOF 🡪 Grubler-Kutzbach criterion


🡪 Number of DOF = Number of variables required to specify the configuration
🡪 More number of variables used 🡪 Constraints

Holonomic – in terms of coordinates Non-holonomic – in terms of `velocities’

• Linear & angular velocity of a rigid body – Angular velocity in terms of derivatives of rotation matrix

• Linear and angular velocity of rigid bodies in a chain – propagation formulas with R and P joints

• Linear and angular acceleration of a rigid body, connected rigid bodies


🡪 5 terms in the acceleration expression – importance of centripetal, Coriolis

• Forces and Moments


Ashitava Ghosal Mechanics of Rigid Bodies ENR 209
Ashitava Ghosal Mechanics of Rigid Bodies ENR 209
Ashitava Ghosal Mechanics of Rigid Bodies ENR 209
Ashitava Ghosal Mechanics of Rigid Bodies ENR 209
Ashitava Ghosal Mechanics of Rigid Bodies ENR 209
Equal and opposite – from Newton’s 3rd Law

Torsional Spring: T = K θ

Ashitava Ghosal Mechanics of Rigid Bodies ENR 209


• Many models of friction force

• Exact nature of the friction force is still a subject of research!


Ashitava Ghosal Mechanics of Rigid Bodies ENR 209 8
• Gravity is an attractive force – equal and opposite force

• Inversely proportional to the distance between the two particles


and along the line connecting the two particles

• G gravitational constant
G = 6.67430 x 10 -11 N m2/kg2

• Force on a mass m near the Earth’s surface – mg

g = acceleration due to gravity = 9.81 m/s2

Ashitava Ghosal Mechanics of Rigid Bodies ENR 209


• Extended rigid object of mass m, length l with centre of mass at C

• Object centre of mass at a distance R from a particle of mass M

Extended object is a ``long’’ satellite


Particle of mass M is at the centre of the Earth

Mass M can exert a force and a moment on the extended body

Ashitava Ghosal Mechanics of Rigid Bodies ENR 209


Spacecraft Dynamics: Kane, Likins & Levinson

Ashitava Ghosal Mechanics of Rigid Bodies ENR 209


Ashitava Ghosal Mechanics of Rigid Bodies ENR 209
Ashitava Ghosal Mechanics of Rigid Bodies ENR 209
Ashitava Ghosal Mechanics of Rigid Bodies ENR 209
Example 1 – Mass with external
force

Ashitava Ghosal Mechanics of Rigid Bodies ENR 209


Example 2 – a simple pendulum

Ashitava Ghosal Mechanics of Rigid Bodies ENR 209


Ashitava Ghosal Mechanics of Rigid Bodies ENR 209
Ashitava Ghosal Mechanics of Rigid Bodies ENR 209
Example 3 – a double pendulum

Ashitava Ghosal Mechanics of Rigid Bodies ENR 209


Example 4 – a pendulum on a cart

Ashitava Ghosal Mechanics of Rigid Bodies ENR 209


Example 5 – a 4-bar mechanism

Ashitava Ghosal Mechanics of Rigid Bodies ENR 209


• External forces and moments: Contact, Gravity, Spring, Damping

• Generalized coordinates and forces 🡪 obtained using principle of virtual work


On a single rigid body – correspond to 3 translation + rotations
On a multi-body system – more difficult to obtain

• In parallel chains, hybrid systems 🡪 Many choices of generalized coordinates

• Different generalized coordinates 🡪 Generalized forces are different

Ashitava Ghosal Mechanics of Rigid Bodies ENR 209


Equilibrium
Static equilibrium

= 0

= 0

X, Y and Z components must be zero – 6 equations in 3D


In 2D – Fx = Fy = Mz =0

Dynamic equilibrium – rigid body can have constant linear velocity


Ashitava Ghosal Mechanics of Rigid Bodies ENR 209
Statics of a Particle

Ashitava Ghosal Mechanics of Rigid Bodies ENR 209


Statics of Rigid Bodies

Ashitava Ghosal Mechanics of Rigid Bodies ENR 209


Statics of Rigid Bodies

Ashitava Ghosal Mechanics of Rigid Bodies ENR 209


Statics of Connected Rigid Bodies

Two rigid bodies connected by a R joint

One DOF 🡪 5 Constraints


• DOF – Rotational motion between {i-1} and {i}
• Constraints – Forces resisted by the joint

Ashitava Ghosal Mechanics of Rigid Bodies ENR 209


Statics of Connected Rigid Bodies

Free Body Diagram

Ashitava Ghosal Mechanics of Rigid Bodies ENR 209


Statics of Connected Rigid Bodies
Free Body Diagram

Ashitava Ghosal Mechanics of Rigid Bodies ENR 209


Statics of Connected Rigid Bodies
Spherical joint has 3 DOF

Spherical joints resists Fx, Fy and Fz & No Moments

Only vertical reaction

String, cables etc. can only apply Tension

T1, T2, …….

Ashitava Ghosal Mechanics of Rigid Bodies ENR 209


Statics of Connected Rigid Bodies

FBDs in 2D

Meriam & Kraige -- Statics


Ashitava Ghosal Mechanics of Rigid Bodies ENR 209
Statics of Connected Rigid Bodies
Free Body Diagram

=0

Ashitava Ghosal Mechanics of Rigid Bodies ENR 209


Statics of Connected Rigid Bodies

Free Body Diagrams

Examples

Meriam & Kraige -- Statics


Ashitava Ghosal Mechanics of Rigid Bodies ENR 209
Trusses

Meriam & Kraige -- Statics


Ashitava Ghosal Mechanics of Rigid Bodies ENR 209
Trusses
Different methods to solve for forces in members
Method of joints -- Example

Meriam & Kraige -- Statics


Ashitava Ghosal Mechanics of Rigid Bodies ENR 209
Trusses
Method of Sections -- Example

Meriam & Kraige -- Statics


Ashitava Ghosal Mechanics of Rigid Bodies ENR 209
Trusses – Contd.

Ashitava Ghosal Mechanics of Rigid Bodies ENR 209


Trusses Example problem

At E

At C

At A

At B

C – Compressive At E
T – Tensile

Ashitava Ghosal Mechanics of Rigid Bodies ENR 209


• External forces and moments acting on a rigid body in 3D

• Several forces and moments 🡪 Resultant force and moment acting at along a line

• Common external forces – contact, spring, damper, friction and gravity

• Concept of a generalized force corresponding to a generalized coordinate

• Equilibrium of a rigid body 🡪


Concept of a Free Body Diagram

• Trusses 🡪 solved by method of joints and method of sections

Ashitava Ghosal Mechanics of Rigid Bodies ENR 209


Assignments

Ashitava Ghosal Mechanics of Rigid Bodies ENR 209

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