Professional Documents
Culture Documents
Acknowledgement
First of all, I would like to express my deep sense of
gratitude to dynamic paragon, ingenious Teacher Mr.
varun, who assigned me this topic.
Multibody system
Applications
Example
Concept
Degree of freedom
Constraint condition
Introduction:-
In which part 1, the fixed frame or block of the pump or engine, contains a
cylinder, depicted in cross section by its walls DE and FG, in which the piston, part
4, slides back and forth. The small circle at A represents the main crankshaft
bearing, which is also in part 1. The crankshaft, part 2, is shown as a straight
member extending from the main bearing at A to the crankpin bearing at B, which
connects it to the connecting rod, part 3. The connecting rod is shown as a straight
member extending from the crankpin bearing at B to the wristpin bearing at C,
which connects it to the piston, part 4, which is shown as a rectangle. The three
bearings shown as circles at A, B, and C permit the connected members to rotate
freely with respect to one another. The path of B is a circle of radius AB; when B
is at point h the piston will be in position H, and when B is at point j the piston will
be in position J. On a gasoline engine, the head end of the cylinder (where the
explosion of the gasoline-air mixture takes place) is at EG; the pressure produced
by the explosion will push the piston from position H to position J; return motion
from J to H will require the rotational energy of a flywheel attached to the
crankshaft and rotating about a bearing collinear with bearing A. On a
reciprocating piston pump the crankshaft would be driven by a motor.
A four-bar linkage with output crank and ground member of infinite length. A
slider crank (see illustration) is most widely used to convert reciprocating to rotary
motion (as in an engine) or to convert rotary to reciprocating motion (as in pumps),
but it has numerous other applications. Positions at which slider motion reverses
are called dead centers. When crank and connecting rod are extended in a straight
line and the slider is at its maximum distance from the axis of the crankshaft, the
position is top dead center (TDC); when the slider is at its minimum distance from
the axis of the crankshaft, the position is bottom dead center (BDC).
Principal parts of slider-crank mechanism.
To convert rotary motion into reciprocating motion, the slider crank is part of a
wide range of machines, typically pumps and compressors. Another use of the
slider crank is in toggle mechanisms, also called knuckle joints. The driving force
is applied at the crankpin so that, at TDC, a much larger force is developed at the
slider. See also Four-bar linkage.
Four-stroke engine cycle.:-The four strokes in the Otto cycle are shown in Figure .
These are:
Intake: The inlet valve is open and the piston moves downwards, drawing in
amixture of fuel and air into the cylinder.
Compression: Both valves are shut and the piston moves upwards to compress the
fuel-air mix. The spark plug ¯res just before the piston reaches its top dead
centre postion (the position where the piston reaches its maximum ver-
tical location). This initiates the combustion of the mixture.
Power: Again both valves are closed. The hot gases due to the combustion of the
fuel air mix drive the cylinder down. The connecting rod transfers this
linear motion of the piston to rotational motion of the crankshaft. The
torque thus applied to the crankshaft can be used to drive a mechanism,
such as the blades of a lawn mower.
Exhaust: The exhaust valve opens and the upward motion of the piston drives the
exhaust gasses out of the cylinder.
Multibody system:-
Introduction:-The systematical treatment of the dynamic behavior of
interconnected bodies has led to a large number of important multibody
formalisms in the field of mechanics. The simplest bodies or elements of a
multibody system were already treated by Newton (free particle) and Euler (rigid
body). Euler already introduced reaction forces between bodies. Later on, a series
of formalisms have been derived, only to mention Lagrange’s formalisms based on
minimal coordinates and a second formulation that introduces constraints.
Applications
While single bodies or parts of a mechanical system are studied in detailed with
finite element methods, the behavior of the whole multibody system is usually
studied with multibody system methods within the areas:
• Physics engine
• Robotics
• Vehicle simulation (vehicle dynamics, rapid prototyping of vehicles,
improvement of stability, comfort optimization, improvement of
efficiency, ...)
• Biomechanics
• Aerospace engineering (helicopter, landing gears, behavior of machines
under different gravity conditions)
• Combustion engine, gears and transmissions, chain drive, belt drive
• Hoist, conveyor, paper mill
• Particle simulation (granular media, sand, molecules)
• Dynamic simulation
• Military applications
Example:-
Concept:-
There are two important terms in multibody systems: degree of freedom and
constraint condition.
Degree of freedom
motion, three of them translational degrees of freedom and three rotational degrees
of freedom. In the case of planar motion, a body has only three degrees of freedom
with only one rotational and two translational degrees of freedom.
The degrees of freedom in planar motion can be easily demonstrated using e.g. a
computer mouse. The degrees of freedom are: left-right, up-down and the rotation
about the vertical axis.
Constraint condition:-