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Principle Virtual Work

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40 views48 pages

Principle Virtual Work

Uploaded by

gbmadeshkumar
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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CE 102: Engineering

Mechanics
Principle of Virtual Work
Work of a Force
→ → →
dU = F  dr = work of the force F corresponding to
→
the displacement dr

dU = F ds cosα

α= 0, dU =+ F α= π , dU = − F α= π
, dU = 0
ds ds
2

dU
= Wdy
Work of a Couple
Small displacement of a rigid body:
• translation to A’B’
• rotation of B’ about A’ to B”

→ → →
W = F  dr + F  dr + dr 
1 1 2
F→ dr
→ 2 = F ds2 = F rdθ
M dθ
Principle of Virtual Work
• Imagine the small virtual displacement of particle which
is acted upon by several forces.
• The corresponding virtual work,
→
→ → → →
δU =  δr +  δr + → δr→ →F→1 + F2 +
→
 
δr
F→1 → F2 F3 = F

3
R  δr

Principle of Virtual Work:


• If a particle is in equilibrium, the total virtual work of forces
acting on the particle is zero for any virtual displacement.
• If a rigid body is in equilibrium, the total virtual work
of external forces acting on the body is zero for any
virtual displacement of the body.
• If a system of connected rigid bodies remains connected
during the virtual displacement, only the work of the
external forces need be considered.
Work of a Force
Forces which do no work:
• reaction at a frictionless pin due to rotation of a body
around the pin
• reaction at a frictionless surface due to motion of a
body along the surface
• weight of a body with cg moving horizontally
• friction force on a wheel moving without slipping

Sum of work done by several forces may be zero:


• bodies connected by a frictionless pin
• bodies connected by an inextensible cord
• internal forces holding together parts of a rigid body

10 - 5
Virtual Work for a rigid body
Different types of forces
• Forces that do work are called
active force.
• Reactive and internal forces
do not do any work.
• Virtual displacements are to
be given carefully so that
the active forces are only
the known forces and the
forces we are interested in
obtaining
• Similar to FBD we draw
active force diagram (AFD).
Degrees of Freedom
• DOF in this context is the total
number of independent coordinates
required to specify the complete
location of every member of the
structure.
• For VW method in this course we
will use only 1-DOF systems.
1 DOF 2 DOF
To summarize
• Principle of virtual work
– The virtual work done by external
active forces on an ideal mechanical
system in equilibrium is zero for any
all virtual displacements consistent
with the constraints.
• Ideal system:
– All surfaces, joints etc. are frictionless.
– We will deal with ideal system in this course.
• Consistent with constraints:
– The virtual displacement should be such that
they should not do allow the non-active
forces to do any work.
Why principle of Virtual Work
• For complex mechanisms (we will solve
some problems) we do not need to dis-
member the system.
• We obtain the active unknown force in
one shot without bothering about the
reactive forces.
• Such type of analysis will be a stepping
stone to VW analysis using deformations
when you study Solid Mechanics,
Structural Mechanics etc. not to mention
powerful Approximate methods like the
Finite Element Method.
Sample Problem 10.1
Determine the magnitude of the couple M required to
maintain the equilibrium of the mechanism.

SOLUTION:
• Apply the principle of virtual work
 U  0   UM   U P
0  P x D
M
 3l cos
xD  3l sin
x D
 P 3l sin 
0
M

M  3Pl
10 - 11 sin
• ions were needed to solve the problem, nor was it
N necessary to take apart the machine at any connection. A
o clear and accurate FBD is still highly recommended,
t however.
e
t
h
a
t
n
o
s
u
p
p
o
r
t
r
e
a
c
t
Problem 1
• Assuming frictionless
contacts, determine the
magnitude of P for equilibrium

This problem will be


referred to as the
Ladder problem
Problem 2
• The pressure p driving a piston of
diameter 100 mm is 1 N/mm2. At the
configuration shown, what weight W will
the system hold if friction is neglected

This along with the ladder


problem forms a framework
for many other problems
Problem 3
• A hydraulic lift platform for loading trucks supports a weight W
of 5000N. Only one side of the system has been shown; the
other side is identical. If the diameter of the piston in the
cylinder (two) is 40 mm, what pressure p is needed to support
W when θ = 60o. Assume l = 240 mm, d = 600 mm, and e =
100 mm. Neglect friction everywhere
Problem 4
• A power-operated loading platform designed for the back of a
truck is shown. The position of the platform is controlled by the
hydraulic cylinder, which applies force at C. The links are pivoted
to the truck frame at A, B, and F. Determine the force P supplied
by the cylinder in order to support the platform in the position
shown. The mass of the platform and the links may be neglected
compared with that of the 250 kg crate with center of mass at G.
Problem 5
• A force P is applied to slider C as shown. The constant of
the spring is 1.6 kN/m, and the spring is un-stretched when
member BD is horizontal. Neglecting friction between the
slider and the guide rod and knowing that BC = BD = 150
mm, determine the magnitude of P so that when the
system is in equilibrium.
Pliers problem
• The toggle pliers are used for a variety of clamping
purposes. For the handle position given by α= 10deg
and for a handle grip P = 150N, calculate the
clamping force C produced. Note that pins A and D
are symmetric about the horizontal centerline of the
tool
Problem 6
• Determine Q for equilibrium for the
system shown. The pulleys are
frictionless and have masses W1 and W2.
The sliding body has mass W3.
Problem 7
• Find the force Q required to
maintain the system in
equilibrium.
Problem 8
• Determine the couple M which must be
applied at O in order to support the
mechanism in the position θ = 30o. The
masses of the disk at C, bar OA, and bar
BC are mo, m, and 2m respectively.
Problem 9
• Determine force in member CD by
using the method of virtual work.
Additional Problems
Problem 1
• Find reaction at E by using
method of virtual work
Problem 2
• The elevation of the platform of mass m supported by the
four identical links is controlled by the hydraulic cylinders
AB and AC which are pivoted at point A. Determine the
compression P in each of the cylinders required to support
the platform for the specified angle θ
Problem 3
• Determine the vertical movement of
joint C, if the member FG is
lengthened by 50 mm
Problem 4
• Find the force
delivered at C in the
horizontal direction
to crush the rock.
Pressure p1= 100 M-
Pa and p2= 60 M-Pa
(measured above
atmospheric
pressure). The
diameters of pistons
are 100mm each.
Neglect the weight of
the rods.
Extra Problem
• Find the moment M
required to hold the
system in
equilibrium.
• Take P = 135 N, a =
600mm, and θ = 40
deg.
Problem 11

• The two-bar linkage shown is supported by


a pin and bracket at B and a collar at D that
slides freely on a vertical rod. Determine the
force P required to maintain the equilibrium
of the linkage.
Problem 12

• The claw of the remote-action actuator


develops a clamping force C as a result
of the tension P in the control rod.
Express C in terms of P for the
configuration shown where the jaws are
parallel.

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