MECH326:

Dynamics of Mechanisms

Lecturer
Dr. Emre Sariyildiz
School of Mechanical, Materials, Mechatronic and Biomedical Engineering,
Building 8, Room 116.
Phone: 02 4221 3319
E-mail: [email protected]
Consultation Times: Available in the Subject Outline
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Prepared by Dr. E. Sariyildiz
MECH326: Dynamics of Mechanism
Outline (Weeks 1 – 5)
1st Week: Principles of Dynamics: Degrees of Freedom, Constraints, Virtual Work
and D’Alembert’s Principle
2nd Week: Principles of Dynamics Continued; Introduction to Lagrangian Dynamics
3rd Week: Lagrangian Dynamics Continued: Lagrange Multipliers; Dynamics of
Systems with Holonomic and Nonholonomic Constraints
4th Week: Lagrange Example; Kinematics of Particle, Rigid Body and Multibody
Systems (2D and 3D)
5th Week: Exam 1 (20%) on Lagrangian Dynamics. Exam 1 will be given in the
tutorial.
Prepared by Dr. E. Sariyildiz
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 Euler-Lagrange Equation
d T V
z f mz = f − mg mz = mg =
dt z z

L = T −V L : Lagrangian
mg
y
d L L
mz = f − mg  − = f
dt z z
x
Euler-Lagrange Equation
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Prepared by Dr. E. Sariyildiz
 Euler-Lagrange Equation
f1
d L L
f2 fn m1 z1 = f1 − m1 g = − = f1
dt z1 z1
f3
z m1 g d L L
mn g m2 z2 = f 2 − m2 g = − = f2
m2 g
m3 g dt z2 z2
y
d L L
x m3 z3 = f 3 − m3 g = − = f3
dt z3 z3
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Prepared by Dr. E. Sariyildiz
 Example 1
Derive the differential equation of motion for a spherical pendulum length l.
1
(
T = m l 2 2 + l 2 2 sin 2 
2
)

 V = mgl (1 + cos  ) = mgl (1 − cos  )

1
( )
L = T − V = m l 2 2 + l 2 2 sin 2  − mgl cos 
2
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Prepared by Dr. E. Sariyildiz
 Example 1
Derive the differential equation of motion for a spherical pendulum length l.

d  L  L
  = ml 2
 = ml  sin  cos  + mgl sin 
2 2

dt    

d  L  L
 − =0
dt    

ml  − ml  sin  cos  − mgl sin  = 0

2 2 2
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Prepared by Dr. E. Sariyildiz
 Example 1
Derive the differential equation of motion for a spherical pendulum length l.

d  L  L
  = ml  sin  + 2ml  sin  cos  =0
2 2 2

dt    

d  L  L
 − =0
dt    

ml  sin  + 2ml  sin  cos  = 0

2 2 2
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Prepared by Dr. E. Sariyildiz
 Example 2
Derive the differential equation of motion.
2
? x2 
2
x2 
v1 = x1 v2 = x2 v2 =
2 2 2 2 2
+  x1 − 
2  2
T = ( m1v1 + m2 v2 )
1 2 2


1
2
2 1
2
(
= m1 x1 + m2 x1 + x2 − 2 x1 x2
2 2
)
frictionless
mgx2
V =−
2 8
Prepared by Dr. E. Sariyildiz
 Example 2
Derive the differential equation of motion.
1
2
2 1
2
2 2
(
L = T − V = m1 x1 + m2 x1 + x2 − 2 x1 x2 +
mgx2
2
)
Q1 = 0 Q2  0
m2 m2
N+ ( x1 − g ) = 0 N =− ( x1 − g )
2 2

frictionless m2
Q2 = −  N =  ( x1 − g )
Prepared by Dr. E. Sariyildiz
2 9
 Example 2
Derive the differential equation of motion.

d  L  L m2
 − = Q1 ( m1 + m2 ) x1 − x2 = 0
dt  x1  x1 2

d  L  L m2 (1 −  ) g
 − = Q2 x1 =
dt  x2 x2 2m1 + m2 (1 −  )

m2 m2 g
(1 +  ) x1 + m2 x2 = (1 −  )
frictionless
−
Prepared by Dr. E. Sariyildiz
2 2 10
 Example 3
Derive the differential equation of motion of pendulum.

v = x + l  + 2lx cos 
2 2 2 2
x = A sin t

( )
1 2 m 2 2
 T = mv = A  cos t + l  + 2 Al cos  cos  t
2 2 2
l 2 2
V = −mgl cos 
m 11
Prepared by Dr. E. Sariyildiz
 Example 3
Derive the differential equation of motion of pendulum.

L
x = A sin t = − mAl sin  cos t − mgl sin 

d  L 
 = ml  − mAl cos  sin t − mAl sin  cos t
2 2
 
l dt   
d  L  L
 − =0
dt    
m ml 2 − mAl 2 cos  sin t − mgl sin  = 0 12
Prepared by Dr. E. Sariyildiz
 End
Next Week: Lagrangian Dynamics Continued: Lagrange Multipliers; Dynamics of
Systems with Holonomic and Nonholonomic Constraints

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Prepared by Dr. E. Sariyildiz
 Appendix1: Example Spherical Coordinates
x = r sin ( ) cos ( ) V = mgz
y = r sin ( ) sin ( ) T = m ( x2 + y 2 + z 2 )
1
z = r cos ( ) 2
x = r sin ( ) cos ( ) + r cos ( ) cos ( ) − r sin ( ) sin ( )

T = m ( vr + v + v )
vr = r 1 2 2 2

v = r 2
v = r sin ( ) 
1
(
T = m r 2 + r 2 2 + r 2 sin 2 ( )  2
2
)
Prepared by Dr. E. Sariyildiz
V = mgr cos  14
 Appendix 2: Example 1
Derive the differential equation of motion for a spherical pendulum length l.
T = m ( vr2 + v2 + v2 )
1
vr = r
2
v = r
v = r sin ( ) 
1
(
T = m r 2 + r 2 2 + r 2 sin 2 ( )  2
2
)
V = mgr cos  V = mgl cos 
r = l fixed
vr = r = l = 0
v = l
1
2
2 2
(
T = m l  + l  sin 
2 2 2
)
v = l sin ( )  15
Prepared by Dr. E. Sariyildiz
 y Appendix 3: Example 3
x = A sin t
vx = x + l cos ( )
x
v y = l sin ( )
 l l
v 2 = vx2 + v y2 = x 2 + 2 xl cos ( ) + l 2 2

m vx2 = x 2 + 2 xl cos ( ) + l 2 2 cos 2 ( )

v y2 = l 2 2 sin 2 ( )
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Prepared by Dr. E. Sariyildiz