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2: Force Systems
2.0 Outline
Overview of Forces
27
27
28
33
45
61
85
95
109
2.0 Outline
28
29
30
31
b'
Fb
F2
Fb
F1
Fa
a'
Fa
32
(1)
F1
F2
F1
R1
(2)
(3)
-F
R2
F2
R2
R
R1
33
F = Fx + Fy
F = Fx
i + Fy j
Fy
F = Fx2 + Fy2
Fx
Fx
x=
Fcos
Fy Fsin
=
= arctan 2 ( Fy , Fx )
34
F
y
x
Fx = Fsin
Fx = Fsin()
Fx = Fcos()
Fy = Fcos
Fy = -Fcos()
Fy = Fsin()
35
36
P. 2/1
5 kN
5 kN
60
T
By cosine law:
52 = T 2 + T 2 + 2T Tcos60
T = 2.89 kN
37
38
180 N
10
15
=
Pt 180 cos (10=
+ 15 ) 163.1 N
Pn =
180sin (10 + 15 ) =
76.1 N
t
15
39
40
10
R x = 200cos (15 + 20 ) 150sin (10 + 20 ) =
88.8 N
=
=
R y 200sin (15 + 20 ) + 150 cos (10 +
20 ) 244.6 N
R x ' = 200 cos15 150sin10 = 167.1 N
R y' = 200sin15 + 150 cos10 = 199.5 N
15
110
R = 88.8i + 244.6
=
j N 167.1i' + 199.5 j' N
Non-Orthogonal Coordinate System x'-y
by law of sine and cosine
200 N --> 174.34i' + 55.1j N
150 N --> -79.8i' + 157.2j N
R = (174.34-79.8 ) i' + ( 55.1+157.2 ) j = 94.54i' + 212.3j N
80
150 N
70
30
41
100
150
R y =Psin atan
1.6sin
atan
=0
200
200
P = 2.15 kN
100
150
T = R x Pcos atan
1.6
cos
atan
=
+
200
200
= 3.20 kN
42
43
44
P. 2/5
Quasi-Equilibrium
P is the force done by the robot on the part
-P is the force done by the part on the robot
may be part of strength analysis
of the robot arm
t2
t1
n2
60
15
45
n1
90 N
45
A
d
46
MA = r F
MA =
F r ( sin ) =
Fd
47
(MA ) F
A
(MA ) P
(MA ) Q
( M A )F =
rF
= r (P + Q)
P
Q
= ( M A ) P + ( M A )Q
if F = P + Q
48
rB
rA
r
-F
F
M = rA F + rB ( -F )
= rF
M = F r ( sin ) =
Fd
M
d
-F
F
-F
- d
F
F F
M
d
-F
49
-2F
2F
d/2
50
Varignons Theorem
MO =
250 cos15 0.2 + 250sin15 0.03
= 46.4 Nm CW
51
Vector approach
r = 0.03i + 0.35 j m
F = 240cos10i - 240sin10 j N
M O = r F = -84.0k Nm
y
x
52
53
40 N
FC
54
55
56
57
MC = 2 5 F 3 = 0
F = 3.33 kN
58
59
60
61
B
A
-F
A
d
F
Force-Couple System
M=Fd
62
F = ma
63
Resultant Determination
Force Polygon : head to tail of force vectors
Note: only magnitude and direction are ensured
i.e., line of action may be incorrect!
Fx R y
=
Fy
= arctan 2 ( R y , R x )
R=
( Fx ) + ( Fy )
2
64
Resultant Determination
Prin. Transmissibility & Parallelogram Law :
graphical method quick and easy visualizable but
low accuracy
Note: magnitude, direction, and line of action are correct
65
Resultant Determination
Force-Couple Equivalent Method:
algebraic method high accuracy
Note: magnitude, direction, and line of action are correct
66
Resultant Determination
Force-Couple Equivalent Method:
algebraic method high accuracy
Note: magnitude, direction, and line of action are correct
M (=
Fd )
=
i
Rd
Principle of Moment
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68
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72
73
P. 2/15
O
First, find the equivalent force-couple at point O
R = 8 - 5 = 3 kN downward
M O = 25 5 2 8 2 = 1 kNm CW
Then, locate the correct line of action by prin. of moment
1
3d = 1 d = 1/3 m & x = 4 m
3
74
75
MO =
M - 400 0.15cos30 - 320 0.3 = 0
M = 148 Nm CCW
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77
MO
R
MO
Rx
Ry
78
79
80
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MO
Rx
Ry
82
83
84
P. 2/20
E
85
=
Fxz Fsin
=
y Fxy Fsin
=
z Fyz Fsin x
F = Fx i + Fy j + Fz k
=
Fx F=
cos x Fy F=
cos y Fz F cos z
directional unit vector n F = cos x i + cos y j + cos z k
F = Fn F
86
AB
=
n F
=
AB
( x2 x1 ) i + ( y2 y1 ) j + ( z2 z1 ) k
2
2
2
( x2 x1 ) + ( y2 y1 ) + ( z2 z1 )
F = Fn F
87
88
F = Fn F
Fn
n = Fn F n
Fn F=
cos
=
F
Fn = Fn n = ( Fn F n ) n
89
top view
20
Pxy=Pcos30
90
91
AE
T=T
= 142.1i + 193.2 j 180.2k
AE
BC
=
n BC = 0.9063 j 0.4226k
BC
2-point description
=
n BC 251.2 N
TBC T=
92
93
1.5
= 8.53
10
T = Tcos15cos i + Tcos15sin j Tsin15k
= 764.2i +114.6 j 207k
= atan
Txz =
T j
or y acos
=
=
81.76
T
Txz Tsin
=
=
y 792 N
94
95
96
j
ry
k
rz
Fx
Fy
Fz
for remembrance
=
M
ry Fz rz Fy
x
=
M
rz Fx rx Fz
y
=
M
rx Fy ry Fx
z
2.6 3-D Moment and Couple
97
MO = r F
2. Orthogonally project M O in the
n -direction along axis
=
M
( M O n ) n = ( r Fn ) n
rx
M = Fx
nx
ry
Fy
ny
rz
Fz
nz
98
3-D Couple
99
100
MO =
( 400 1.2 ) i + ( 400 6 ) k = 480i + 2400k N
101
102
AB
= 4.06i 3.39 j 20.32k kN
T=T
AB
r = OA = 18 j + 30k m
M O = r T = -264.2i +121.9 j - 73.2k kNm
103
Algebraic approach
A = ( 0,18,30 ) B = ( 6,13, 0 )
AB
= 4.06i 3.39 j 20.32k kN
T=T
AB
translate force to B, moment at O by Tx
( M O )T
=
4.06 13k
moment at O by Ty
( M O )T
=
3.39 6k
moment at O by Tz
( M O )T
=
20.32 13i + 20.32 6 j
MO =
264.16i + 121.92 j 73.12k kNm
104
105
106
107
r = 75cos30i + 75 j + 75sin30k mm
MA =
r ( -5k ) =
375i + 325 j Nmm
=
n AB cos 30i + sin 30k
M AB =
281i 162.4k Nmm
( M A n AB ) n AB =
108
109
R = F
go together to determine the resultant
M = ( r F )
110
Principle of Moment
Dynamics:
calculate the resultants
M G = IG at C.M.
F=0
Statics:
calculate the resultants at any point
M = 0
2.7 3-D Resultants
111
Wrench Resultant
of screwdriver
MO =
M=
rR
R M as the resultant
112
R
M1
=
R
M2
( M n R ) n=
R
M - M1
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114
115
116
R = 2400 j N
800 2.4k + 1600 2.4k + 1600 0.9i
MO =
= 1440i + 5760k Nm
determine line of action of R
R must be x m far from yz plane to produce 5760k Nm
5760 = 2400 x x = 2.4 m
R must be - z m far from xy plane to produce 1440i Nm
1440 = 2400 ( -z ) z = -0.6 m
117
118
b) Project MO || and nR
nR =
1
1
ik
2
2
Fb Fb
M
=
nR
i k
( M O n R )=
2
2
Fb
Fb
M =
MO M =
i + F (a + c) j k
2
2
119
r = xi + yj
M = r R
b
x=a+c, y=
2
120
121
R = 100i + 100 j N
Let point P in xz plane, where the wrench passes, has the coordinate ( x, 0, z ) .
Moment about point P = 100 zi + 100 ( 0.4 x ) k + 100 ( 0.4 z ) j - 100 0.3k - 20j
M P = 100zi + ( 20-100z ) j + (10-100x ) k Nm
This moment at point P must equal to the couple of the wrench passing through point P.
And since it is the wrench, M P R.
x = 0.1 m, z = 0.1 m
M=
10i + 10 j Nm
P
122