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Analyze the physical joint and identify the relative motion allowed Derive the constraint equations that imply the relative motion allowed Compute constraint Jacobian q Get (RHS of velocity equation) Get (RHS of acceleration equation, this is complicated)
Today:
Cam stays just like before Flat follower Typical application: internal combustion engine Not covered in detail, HW touches on this case
Point-Follower Pair
Pin P is attached to body i and can move in slot attached to body j. NOTE: the book forgot to mention what gj is (pp.85, eq. 3.4.32)
The location of point P in slot attached to body j is captured by angle j that parameterizes the slot. Therefore, when dealing with a pointfollower well be dealing with the following set of generalized coordinates:
Point-Follower Pair
Step 4: = ?
Step 5: = ?
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Driving Constraints
The context
Some additional time dependent constraints (drivers) are added to control these unoccupied DOFs
Kinematic Drivers
Absolute Coordinate Drivers
Indicate that the coordinate of a point expressed in the global reference frame assumes a certain value that changes with time
X-position
Y-position
Orientation angle
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Step 4: = ?
Step 5: = ?
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Pi
Pj
y j xj
Body i
s 'Pi
xi
fj
rj
Body j
yi
fi
O
riP
ri
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Step 4: = ? Step 5: = ?
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Generalized coordinates:
Motions prescribed:
Derive the constraints acting on system Derive linear system whose solution provides velocities
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