Homework 4 Solution

Sara Jouzdani

10/7/09

Question 1 :

becuase we have 6 unknowns { FSz , FSy , FEz , FEy , FW y , MS } so we

need to write 6 equations to solve them

a )free body diagram for the humerus

Fz = 0 =⇒FSz + FEz = 0 (1)

P

Fy = 0 =⇒FSy + FEy = 0 (2)

P

Mx |E = 0 =⇒
P
Ms + (0.0175 - 0.084) × FSz - ( 0.018 - ( - 0.042) ) × FSy = 0

=⇒ Ms + 0.091 FSz - 0.060 FSy = 0 (3)

b) free body diagram for the ulna

1
 Fz = 0 =⇒ FT z - FEz = 0=⇒107 - FEz = 0 (4)
P

Fy = 0 =⇒FT y - FEy - FW y = 0=⇒214 - FEy - FW y = 0 (5)

P

Mx |W = 0 =⇒
P
- (- 0.045 - 0) × FT y + ( 0.090 - 0) × FT z + ( - 0.042 - 0 ) × FEy - ( 0.084
- 0 ) × FEz = 0

=⇒ 0.045 × 214 + 0.090 ×107 - 0.042 FEy - 0.084 FEz = 0

=⇒ 9.630 + 9.630 -0.042 FEy - 0.084 FEz = 0 (6)

c)

we have 6 equations and 6 unkowns so we could make a A and b :

   
1 0 1 0 0 0 FSz

 0 1 0 1 0 0 


 FSy 

0.091 −0.060 0 0 0 1 FEz
A × x = b =⇒   =
   
 × 

 0 0 1 0 0 0 


 FEy 

 0 0 0 1 1 0   FW y 
  0 0 0.084 0.042 0 0 MS
0

 0 


 0 


 107 

 214 
19.260

2
  
1 0 1 0 0 0

 0 1 0 1 0 0 

0.091 −0.060 0 0 0 1
A=
 


 0 0 1 0 0 0 

 0 0 0 1 1 0 
0 0 0.084 0.042 0 0
 
0

 0 

0
b=
 


 107 

 214 
−19260

d)

by putting A and b in the Matlab code which we wrote in pervious home-

works we could nd the sloution (x)
=⇒ 
−107

 −244.6 

107
x =
 


 244.6 

 −30.6 
−4.9

FSz = - 107 N
FSy = - 244.6 N
FEz = 107 N
FEy = 244.6 N
FW y = - 30.6 N
MS = - 4.9 Nm

Question 2 :

In this equation we have 7 unknowns { FSz , FSy ,FHz , FHy ,FEz , FEy ,
ME } , but in the question says FSz = FSy
so we have 6 unknows and we need 6 equations for calculating them

free body diagram for the rie

3
 Fz = 0 =⇒ FSz - FHz = 0 (1)
P

Fy = 0 =⇒FSy - FR - FHy = 0=⇒ FSy - 40 - FHy = 0 (2)

P

Mx |H = 0 =⇒
P
( 0.30 - 0) ×FSz - ( 0 - 0.30) × FSy - ( 0.10 -0.30)× - 40 = 0

=⇒ 0.30 FSz + 0.30 FSy - 0.2 × 40 = 0

=⇒0.30 FSz + 0.30 FSy - 8 =0 (3)

free body diagram for the forearm

Fz = 0
P

=⇒ FHz - FEz = 0 (4 )

Fy = 0 =⇒FHy - FA - FEy = 0
P

4
 =⇒ FHy - 12 - FEy = 0 (5 )

Mx |E = 0 =⇒
P
( 0.30 - 0) ×FHz + ME - ( 0.10 - 0)× - 12 = 0

=⇒ 0.30 FHz + ME + 0.1 × 12 = 0

=⇒0.30 FHz + ME +1.2 =0 (6)

d)

Since the reaction force of FSz = FSy so we have 6 equations and 6 unknowns
so we changed the equation ( 2 ) to
FSz - 40 - FHy = 0 (2)
     
1 1 0 0 0 0 FSz 0

 1 0 1 0 0 0  
 FHz  
  40 

0.6 0 0 0 0 0 
 ×  FHy 8
A × x = b =⇒  =
    


 0 1 0 −1 0 0  

 FEz
 
  0 

 0 0 1 0 −1 0   FEy   12 
0 0.3 0 0 0 1 ME −1.2
 
1 1 0 0 0 0

 1 0 1 0 0 0 
0.6 0 0 0 0 0 
A=



 0 1 0 −1 0 0 

 0 0 1 0 −1 0 
0 0.3 0 0 0 1
 
0

 40 

8
b=
 


 0 

 12 
−1.2

e)
by putting A and b in the Matlab code which we wrote in pervious homework
we could nd the solution (x)
=⇒ 
13.3

 13.3 

−26.7
x =
 


 13.3 

 −38.7 
−9.2

5
 FSz = FSy = 13.3 N
FHz = 13.3 N
FHy = -26.7 N
FEz = 13.3 N
FEy = -38.7 N
ME = - 9.2 Nm

Question 3 :

if you look at the whole body as one segment , there are the 3 forces {W ,
F6y , F6z } and one moment M6 which should be in equilibrium so :

Fz = 0 =⇒- F6z = 0=⇒F6z = 0

P

Fy = 0 =⇒ - F6y - W = 0=⇒ F6y = - W

P

Mx |H = 0 =⇒
P
Zcom ×W + M6 = 0

and in the last homework we calculate the Zcom is around the zero so

M6 = 0

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 now we start to construct a free-body diagram for each segment and we start
from the foot or link 6-5 :

from the last homewrok :

segments number Z (cm) Y (cm ) fraction mass Weigth
Foot 2 0.7 11.9 0.0145 2 ×0.0145=0.029
Leg 2 12.4 43.1 0.0465 2 ×0.0465=0.093
Thigh 2 5.7 74.55 0.1 2 ×0.1=0.2
Trunk + Hand + Arm 1 -6.2 112.7 0.678 0.678
Head + Neck 1 5.5 145.0 0.081 0.081
Total BODY =1.08 ≈1.00

foot ( link 6 - 5 )

F6y = W = 125 lbf = 125 ×4.44 = 555 N

Wf = 555 ×0.0145 = 16.1 N

Fz = 0 =⇒F5z = 0
P

Fy = 0 =⇒ F6y - Wf - F5y = 0=⇒ F5y = 555 - 16.1 = 538.9 N

P

Mx |5 = 0 =⇒
P
-0.007×Wf + M5 + 0.014 ×F6y = 0
=⇒ M5 = 0.007 ×16.1 - 0.014 ×555= - 7.7 Nm

leg ( link 5 - 4 )

7
 Wl = 555 ×0.093 = 51.6 N

Fz = 0 =⇒F4z = 0
P

Fy = 0 =⇒ F4y - Wl - F5y = 0=⇒ F4y = 538.9 - 51.6 = 487.3 N

P

Mx |4 = 0 =⇒
P
- 0.11×Wl - M4 + M5 + 0.22 ×F5y = 0=⇒ M5 = 0.11 ×51.6 - 0.22 ×538.9 -
7.7= -120.6 Nm

thigh ( link 6 - 5 )

Wt = 555 ×0.2 = 111 N

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 Fz = 0 =⇒F3z = 0
P

Fy = 0 =⇒ - F3y - Wt + F4y = 0=⇒ F3y = 478.3 - 111 = 567,3 N

P

Mx |3 = 0 =⇒
P
0.0177×Wt + M3 - M4 - 0.0354 ×F4y = 0=⇒ M3 = -120.6 - 0.0 177 ×111 +
0.0354 ×487.3 = -105.3 Nm

body link 2-3

Wb = 555 ×0.678 = 376.3N

Fz = 0 =⇒F2z = 0
P

Fy = 0 =⇒ - F2y - Wb + F3y = 0=⇒ F2y = 376.3 - 376.3 = 0N

P

Mx |2 = 0 =⇒
P
0.058×Wb - M2 + M3 - 0.0116 ×F3y = 0=⇒ M2 = -105.3 + 0.058× 376.3-
0.0116 ×376.3 = - 127. 1 Nm

Question 4 :

there are 5 segments , so you should draw 5 free-body diagram ( 1 trough 5

)

9
let' s start from
segment number 1 :

Fz = 0 =⇒ FRz - FBz = 0
P

Fy = 0 =⇒ FBy - FRy = 0
P

Mx |B = 0 =⇒0.002 ×FRz - MR - 0.015 ×FRy + MB = 0

P
a)

FRz = 10 N and MR = 0 and FRy = 0 N

FBz = 10 N

FBy = 0

MB = -0.002 ×10 = -0.02 N.m

b)

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FRz = 0 and MR = 0 and FRy = 10 N

FBz = 0

FBy = 10 N

MB = 0.015 ×10 = 0.15 N.m

c)

FRz = 10 N and MR = 0 and FRy = 5 N

FBz = 10 N

FBy = 5 N

MB = - 0.002 ×10 + 0.015 ×5 = - 0.02 + 0.075 = +0.055 N.m

d)

FRz = 10 N and MR = - 0.5 Nm and FRy = 5 N

FBz = 10 N

FBy = 5 N

MB = -0.002 ×10 + 0.015 ×5 + 0.5 = -0.02 + 0.075 + 0.5 = 0.555 N.m

segment 2

Fz = 0 =⇒- FP z + FBz = 0
P

Fy = 0 =⇒ FBy - FP y = 0
P

Mx |P = 0 =⇒0.001 ×FBz - MB + MP = 0
P
a)

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FBz = 10 N and MB = -0.02 Nm and FBy = 0 N

FP z = 10 N

FP y = 0

MP = - 0.02 - 0.001 ×10 = - 0.03N.m

b)

FBz = 0 and MB = 0.15 Nm and FBy = 10 N

FP z = 0

FP y = 10 N

MP = MB = 0.15N.m

c)

FBz = 10 N and MB = 0.055 Nm and FBy = 5 N

FP z = 10 N

FP y = 5 N

MP = 0.055 - 0.001 ×10 = 0.045 N.m

d)

FRz = 10 N and MR = 0.555 Nm and FRy = 5 N

FP z = 10 N

FP y = 5 N

MP = -0.001 ×10 + 0.555 = 0.01 - 0.555 = 0.545 N.m

segment 3

12
 Fz = 0 =⇒ - FF z + FP z = 0
P

Fy = 0 =⇒ FF y - FP y = 0
P

Mx |F = 0 =⇒- 0.03 ×FP y - Mp + MF = 0

P
a)

FP z = 10 N and MP = -0.03 Nm and FP y = 0 N

FF z = 10 N

FF y = 0

MF = MP = - 0.03N.m

b)

FP z = 0 and MP = 0.15 Nm and FP y = 10 N

FF z = 0

FF y = 10 N

MF = 0.03×10 + 0.15 = 0.30N.m

c)

FP z = 10 N and MP = 0.045 Nm and FP y = 5 N

FF z = 10 N

FF y = 5 N

MF = 0.03 ×5 + 0.045 = 0.495 N.m

d)

FRz = 10 N and MR = 0.545 Nm and FRy = 5 N

FP z = 10 N

FP y = 5 N

MP = 0.03 ×5+ 0.545 =0.695 N.m

segment 4

13
 Fz = 0 =⇒- FHz + FF z = 0
P

Fy = 0 =⇒ FHy - FF y = 0
P

Mx |H = 0 =⇒ - 0.001 ×FF z - MF + MH = 0
P
a)

FF z = 10 N and MF = - 0.03 Nm and FF y = 0 N

FHz = 10 N

FHy = 0

MH = 0.001×10 - 0.03 = - 0.02N.m

b)

FF z = 0 and MF = 0.3 Nm and FF y = 10 N

FHz = 0

FHy = 10 N

MH = MF =0.3N.m

c)

FF z = 10 N and MF = 0.495 Nm and FF y = 5 N

FHz = 10 N

FHy = 5 N

MH = 0.001 ×10 + 0.495 = 0.505 N.m

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d)

FF z = 10 N and MF = 0.695 Nm and FF y = 5 N

FHz = 10 N

FHy = 5 N

MH = 0.001 ×10 + 0.695 = 0.705 N.m

segment 5

Fz = 0 =⇒ - FT z + FHz = 0
P

Fy = 0 =⇒ FT y - FHy = 0
P

Mx |T = 0 =⇒ -0.015×FHy - 0.002 ×FHz - MH + MT = 0

P
a)

FHz = 10 N and MH = - 0.02 Nm and FHy = 0 N

FT z = 10 N

FT y = 0

MT = 0.002×10 - 0.02 = 0N.m

b)

FHz = 0 and MH = 0.3 Nm and FHy = 10 N

FT z = 0

FT y = 10 N

MT = MF = 0.3+ 0.015 ×10 = 0.45 N.m

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c)

FHz = 10 N and MH = 0.505 Nm and FHy = 5 N

FT z = 10 N

FT y = 5 N

MT = 0.015 ×5 +0.505 + 0.002×10= 0.575N.m

d)

FHz = 10 N and MH = 0.705 Nm and FHy = 5 N

FT z = 10 N

FT y = 5 N

MT = 0.015 ×5+ 0.002×10 + 0.705 = 0.775 N.m

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