Joe Dinius HW 7

A ME 553 March 4, 2010

1. Find the constraint equation for point P on body i to remain on the plane x = 5. The local coordinates of P are siP = (1 2 3)T . Assume that Euler parameters are used to construct the rotational transformation matrix. Solution. The constraint equation is
P (xP,1) = xi + a11 iP + a12 i + a13 iP c = xi + a11 2a12 + 3a13 + 5 = 0

where a11 , a12 , a13 are the elements of the rst row of the rotational transformation matrix A. 2. Add one more equation to the cylindrical-joint constraints to allow them to be used as revolute-joint constraint equations. Solution. We want a constraint that still allows relative rotation between bodies i and j, but removes translation. In the Figure 7.6(a) of the book, the distance between Pi and Pj wrt the global coordinate system x y z must remain constant. The additional constraint in this case is (Pi Pj ,1) = (xPi xPj )2 + (y Pi y Pj )2 + (z Pi z Pj )2 c2 = 0 where c2 is the initial length between Pi and Pj . 3. The two bodies shown in the gure can slide and rotate relative to one another without separation. Neither of the two bodies is connected to the ground. Formulate constraint equations describing this joint. Solution. Pick two points, Pi and Pj , on the bottom of body i (the top plate) and the top of body j (the bottom plate). Pick two outward unit normal vectors, ui and uj , to surfaces i and j respectively. Call the vector between Pi and Pj d. The constraint equations for this joint in terms of these vectors are then uT uj = uT ui = 0 i j uT d = 0 i uT d = 0. j 4. An A-arm suspension system contains a link connecting the main chassis (body i) to the wheel (body j) by two revolute joints as shown in the gure. The two joint axes intersect at an angle = 90 . Determine the constraint equations to model this composite revolute-revolute joint. 1

Solution. The constraint equations of each individual joint remain the same, that is rtm Atm stPm Aum suPm rum = 0 m m tm sum = 0 s where m = 1, 2, the number of revolute joints. The additional constraint is that the 2 1 vectors sP1 and sP2 must remain orthogonal ( = 90 ). That is, u u
1 2 sP1 T sP2 = 0. u u

5. Point P on body j can move freely on the surface of the spherical body i without leaving or penetrating that surface. Point P on body j is positioned on the body by vector sjP = (2 3 1)T . Note that the point of contact on body i is not a xed (known) point. The origin of body i is at the center of the sphere and the radius of the sphere is 1.5 units. (a) How many relative DoF do we have between the two bodies? Solution. The sphere can rotate about any of the 3-axes. Since body j cannot penetrate body i, these 3 rotational degrees of freedom are equivalent to translating body j around body i. Therefore, the bodies have 3 relative DoF between them. 6. Write the constraint equation(s) between the two bodies in compact form. All points and vectors must be dened clearly. Solution. Consider vector sp , the vector between the origin of body i and the point p. The rst constraint is a length constraint, 1 P T P [(s ) s 1.52 ] = 0. 2 Consider uj an outward normal vector originating from a point on j. This vector must remain parallel to sP , P uj = 0 s 7. A vector si = (3 2 1)T is dened on body i. The body is free to translate and rotate in space. However, we do not want this body to have any rotation about the axis of this vector. Express the necessary constraint(s) at the velocity level. Solution. We dont want any rotation about the axis of si , therefore, the angular velocity in the body i frame must be orthogonal to si . That is, i si = 0 8. Composite joints can be used to model the strut assembly and the rods of a MacPherson suspension system, as shown in the gure. A revolute joint connects the wheel (body 2
T

3) to the knuckle (body 2). A translational joint can be used to describe the motion between the steering rack (rack-and-pinion) and the frame. (a) Write the constraint equations in compact form describing the joints. Dene the required points and vectors for the joints (constraints) clearly (a vector or a point xed to a body must carry proper index, and a vector connecting two bodies must be identied by its end points). Solution. First the length constraints. Consider sGF , the vector connecting G to F . Dene other vectors similarly and the length constraints are 1 T 2 [sGF sGF lGF ] 2 1 T 2 [sAB sAB lAB ] 2 1 T 2 [sBC sBC lBC ] 2 1 T 2 [sBD sBD lBD ] 2 1 T 2 [sCE sCE lCE ] 2 1 T 2 [sDE sDE lDE ] 2 = 0 = 0 = 0 = 0 = 0 = 0.

For the revolute joint connecting body 2 to body 3, we have r2 + sP r3 sP = 0 2 3 2 s3 = 0. s The vectors are as dened in Figure 7.5(a) of the book (p. 192). For the translational joint connecting body 1 to body 4, we have 1 s4 = 0 s 1 d = 0 s T h1 h4 = 0. The vectors are as dened in 7.6(a). h1 and h4 are selected such that they are both perpendicular to the axis of translation. (b) Assume body 1 is constrained not to move. Determine the number of degrees-offreedom for this quarter-car. Solution. If body 1 doesnt move, the number of degrees-of-freedom is 2: one relative DoF between bodies 2 and 3 and another relative DoF between bodies 1 and 4. 9. A cylindrical body j with a radius of 0.6 units must remain in contact with the at surface of body i. Both bodies are allowed to move freely but they must keep a line contact. 3

Solution. This problem isnt asking any questions, however, I will assume that the question is asking for the constraint equations. Pick a vector orthogonal to j (uj ) and another orthogonal to i (ui ). These vectors must remain orthogonal, therefore the (only) constraint is (uj )T ui = 0.