Dynamics of Multibody Systems:

Conventional and
Graph-Theoretic Approaches

SD 652
John McPhee
Systems Design Engineering
University of Waterloo, Canada
 Summary of Course:

1. Review of kinematics and dynamics

2. Conventional multibody dynamics

1. Planar systems
2. Spatial systems and MSC.Adams

3. Graph-theoretic modelling:
1. One-dimensional systems
2. Multibody systems and MapleSim

4. Advanced topics

Mechatronic multibody system dynamics J. McPhee

 1. Multibody Mechanical Systems
 a collection of rigid and flexible bodies connected by
joints, e.g.

Serial Robots Parallel Robots (PKMs)

Mechatronic multibody system dynamics J. McPhee

 – Walking robots:

http://real.uwaterloo.ca/~robot

Mechatronic multibody system dynamics J. McPhee

 – Mechanisms and machinery:

Spatial slider-crank mechanism

Mechatronic multibody system dynamics J. McPhee

 – Vehicles (road, rail, aerospace):

Lola World Sports Car

Mechatronic multibody system dynamics J. McPhee

  Multibody system dynamics: given only a
description of the system as input, formulate
the kinematic and dynamic equations needed
to determine the system response.

System Equations

Dynamic Sensitivity + Model-based

simulation optimization control

Mechatronic multibody system dynamics J. McPhee

  Example multibody system:

Planar slider-crank mechanism (f=1DOF)

Mechatronic multibody system dynamics J. McPhee

 – Coordinates:
• Must be defined a priori
• Selection affects the number and nature of equations
• Absolute coordinates:
– Position and orientation of every body in system, e.g.

q = [ x1 , y1 ,θ1 , x2 , y2 ,θ 2 , x3 , y3 ,θ 3 ]T
– Easy to formulate equations automatically
– Very large systems of equations
• Joint (relative) coordinates:
– Correspond to joints in system, e.g.
q = [θ , β , s]T

– Fewer in number (minimum for open-loop systems)

– Requires more topological accounting

Mechatronic multibody system dynamics J. McPhee

 – Kinematic Analysis:
• One prescribed motion per dof, e.g. if θ = f(t) for
slider-crank, solve the kinematic constraint
equations for q(t)=[θ,β,s]T:

 L1 cosθ + L2 sin β − s 
 
Φ(q, t ) =  L1 sin θ − L2 cos β  = 0
 θ − f (t ) 
 

• For velocities, solve:

− L1 sin θ L2 cos β − 1
Φ q q = −Φ t ⇒ Φ q =  L1 cosθ L2 sin β 0 
 1 0 0 

Mechatronic multibody system dynamics J. McPhee

 – Dynamic equations from Newton-Euler, or from
the Principle of Virtual Work:

δW = ∑ TT δ θ + ∑ F T δ r + ∑ δWRB + ∑ δWFB = 0
nT nF n RB n FB

δWRB = −maT δ r − (Iω + ω × Iω )T δ θ

δWFB = ∫ δ r T ( f b − ρ a ) dV − ∫ δ εT σ dV
V V

– Expressing all variables in terms of q:

δW = QT δ q = 0
– Set the n generalized forces Q=0:

 + ΦTq λ = F
Mq

Mechatronic multibody system dynamics J. McPhee

 – Where, for the planar slider-crank:
m1L12 / 3 0 0 
 
M= 0 m2 L22 / 3 − m2 L2 cos β / 2
 − m2 L2 cos β / 2 m2 + m3 
 0 

[ 
F = 0, 0, F − m2 L2 β sin β / 2
2 T
]
− L1 sin θ L2 cos β − 1
Φq = 
 L1 cosθ L2 sin β 0 

 A dynamic simulation is obtained by solving the n+m

differential-algebraic equations for q(t) and λ(t).

Mechatronic multibody system dynamics J. McPhee

2. Conventional Methods for Multibody Systems

 Automated modelling and simulation

 Based on absolute coordinates

 Large systems of nonlinear DAEs
 Numerical data, not symbolic equations
 Commercial software:
– Working Model
– MSC.Adams

Mechatronic multibody system dynamics J. McPhee

 4th-year (senior) design projects:

Hexplorer 6-legged walking robot

Mechatronic multibody system dynamics J. McPhee

 Hexplorer 3-DOF leg in extended position

Mechatronic multibody system dynamics J. McPhee

 ADAMS simulation of walking maneuver

Mechatronic multibody system dynamics J. McPhee

 SAE mini-Baja vehicle:

Winner of ADAMS modelling award

Mechatronic multibody system dynamics J. McPhee

 Research into vehicle stability:

Grapple Skidder (Timberjack Inc)

Mechatronic multibody system dynamics J. McPhee

 Research into vehicle stability:

ADAMS simulation of roll-over

Mechatronic multibody system dynamics J. McPhee

 Research into mechanisms and machinery:

6-bar mechanism designs

Mechatronic multibody system dynamics J. McPhee

 Research into vehicle suspension design:

Lola World Sports Car (Multimatic Inc)

Mechatronic multibody system dynamics J. McPhee

 – ADAMS model of four-post test:

Mechatronic multibody system dynamics J. McPhee

 – no chassis flexibility or joint compliance
– rear left-hand suspension:

Mechatronic multibody system dynamics J. McPhee

 Research into biomechanics:

– Investigation of metabolic energy consumption

for normal and prosthetic gaits.

Mechatronic multibody system dynamics J. McPhee

 Research into biomechanics:

– Forward dynamic simulation, realistic friction

Mechatronic multibody system dynamics J. McPhee

 Research into biomechanics:

– Forward dynamic simulation, low friction

Mechatronic multibody system dynamics J. McPhee

 3. Modelling using Linear Graph Theory
 Origins in Koningsburg, Prussia, 1732:

Mechatronic multibody system dynamics J. McPhee

 Topology = 4 land masses connected by 7 bridges:

Leonhard Euler’s sketch of Koningsburg topology

Mechatronic multibody system dynamics J. McPhee

 Euler’s “linear graph” representation of topology:

c g
d
e D
A
b
f
a

B
If there are more than 2 nodes with odd valence,
then an “Eulerian path” cannot exist, Euler (1732)

Mechatronic multibody system dynamics J. McPhee

“Graph-Theoretic Modelling” (GTM)
 Component models from measurements

α ,τ
– Edge = element, Nodes = connection points

– Through variable τ = current (i )

– Across variable α = voltage (v)

di
– Constitutive equations, e.g. v = L
dt
Mechatronic multibody system dynamics J. McPhee
 System model from e assembled components:

Electrical Circuit and Linear Graph

– e constitutive equations (linear or nonlinear)
– e linear topological equations from system graph
– primary variables determined by tree selection

Mechatronic multibody system dynamics J. McPhee

 – Linear graph (nodes=frames, edges=elements):

– Vector variables: τ = ( F , T ), α = ( r ,θ )
– Cutsets = dynamic equilibrium for a subsystem
– Circuits = summation of vector displacements
around closed kinematic chains

Mechatronic multibody system dynamics J. McPhee

 Advantages of G-T modelling approach:
– Very systematic
– Amenable to computer implementation
– Leads to efficient systems of equations
– Suitable for real-time simulation, e.g. for virtual
reality or hardware-in-loop experiments
– Applicable to multiple physical domains
– Unifying: coordinates may be absolute or joint or
other possibilities

Mechatronic multibody system dynamics J. McPhee

 – n branch coordinates q are defined by tree selection:

Tree = {r4 − r7 , h8 , h10 , s11} ⇒ q = [θ 8 , β10 , s11 ]T

Tree = {r4 − r7 , m1 , m2 , m3} ⇒ q = [ x1 , y1 ,θ1 , x2 , y2 ,θ 2 , x3 , y3 ,θ 3 ]T

Mechatronic multibody system dynamics J. McPhee

 Mechatronic Multibody Systems

Mechatronic multibody system dynamics J. McPhee

 Robot control system to capture moving payload
tracked by overhead vision system:

http://real.uwaterloo.ca/~watflex

Mechatronic multibody system dynamics J. McPhee

 Electrical network + multibody system, coupled by
transducer elements:

Mechatronic multibody system dynamics J. McPhee

 Linear graph representation:

– The DC-motors (transducers) have an edge in both

the mechanical and electrical sub-graphs.

Mechatronic multibody system dynamics J. McPhee

 – the equations for the individual domains are obtained
using the electrical and multibody formulations.
– these equations are coupled by the constitutive
equations for the transducers, e.g. for the DC-motor:
dθ di
v = Kv + Ri + L
dt dt
dθ
T = KT i − B
dt

– from a single linear graph representation, the

governing equations are automatically derived in
symbolic form by a Maple program “DynaFlexPro”,
now part of the MapleSim package.

Mechatronic multibody system dynamics J. McPhee

 Maple Algorithms (MapleSim)
 Flowchart: Model Description
1) Build Model (ASCII File - *.dfp)

Mathematical Model
2) Build Equations (Maple Module)

3) Build Sim Code

Optimized Simulation Code

Mechatronic multibody system dynamics J. McPhee

 Human and Robotic Slapshots

Motion capture analysis of slapshot

  Human and Robotic Slapshots

Downswing Puck contact

Synthesis of 4-bar hockey robot “Thor”

 Human and Robotic Slapshots

MapleSim model
 Human and Robotic Slapshots

MapleSim animation
 4. Advanced Topics:

 Modelling of mechatronic systems

 Modelling of contact dynamics

 Vehicle dynamics and tires

Mechatronic multibody system dynamics J. McPhee

  Mechatronic system models:

Condensator microphone (Hadwich and Pfeiffer, 1995)

Mechatronic multibody system dynamics J. McPhee

 – Linear graph representation:

– where, for the moving-plate capacitor,

dv2 dC2 ( s ) ds
i2 = C2 ( s ) + v2
dt ds dt
1 dC2 ( s ) 2
F2 = v2
2 ds

Mechatronic multibody system dynamics J. McPhee

 – Selecting the trees shown, and using the
current formulation, one obtains 2 equations
in terms of i2 (t ) and s (t )

dv2 dC2 ( s ) ds
C2 ( s ) + v2 − i2 = 0
dt ds dt
1 dC2 ( s ) 2
m5s + d 6 s + k6 s + m5 g − v2 = 0
2 ds

– where:
di2
v2 = − R1i2 − L3 + E4 (t )
dt

Mechatronic multibody system dynamics J. McPhee

  Mechatronic system models:

Mechatronic multibody system dynamics J. McPhee

 – Linear graph of multibody system + induction motor :

Mechatronic multibody system dynamics J. McPhee

 – Rotation of input link:

Mechatronic multibody system dynamics J. McPhee

 – Current through one rotor inductor:

Mechatronic multibody system dynamics J. McPhee

 Contact dynamic models:

Mechatronic multibody system dynamics J. McPhee

– Discrete versus continuous models [Gilardi and Sharf]
– Hunt-Crossley model with modified damping:

f n = k xn (1 + a xn )
p

– Sphere dropped inside cylinder:

– Volumetric contact model [Gonthier et al, 2006]:

V (1 + a xn )
kf
fn =
hf

– Rolling resistance, etc, also a function of geometry:

– Volumetric contact model [Gonthier et al, 2006]:
 Contact dynamic applications:

Mechatronic multibody system dynamics J. McPhee

 Vehicle dynamics and tires:

Mechatronic multibody system dynamics J. McPhee

– Application to planetary rovers [Petersen, 2011]:

Juno rover

MapleSim model
– Application to planetary rovers [Petersen, 2011]:

MapleSim model, with tire/soil interactions

– Application to planetary rovers [Petersen, 2011]:
– Application to planetary rovers [Petersen, 2011]:
 Dynamics of Multibody Systems:
Conventional and
Graph-Theoretic Approaches

SD 652
John McPhee
Systems Design Engineering
University of Waterloo, Canada