Dynamics of Multi-body Systems

Prof.dr.ing. Csaba Antonya

antonya@unitbv.ro
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Goals of the class
Given a mechanical system, understand
how to generate in a systematic and
general fashion the equations that govern
the time evolution
Have a basic understanding of the
techniques (numerical methods) used to
solve the equation of motion
Be able to use software to simulate and
interpret the dynamics associated with
complex mechanical systems
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Multi-body dynamics
Dynamics of Multibody systems addresses
kinematics and dynamics:
matrix algebra required for kinematics and
dynamics analysis and computations,
two and three-dimensional kinematics and
dynamics,
theory of joint constraints
modelling systems of rigid bodies
connected by kinematic joints.
Applications: vehicle dynamics, modelling
of vehicle systems
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Literature:
J. E. Haug, Computers Aided Kinematics and
Dynamics of Mechanical System, vol. I., Allyn and
Bacon, Boston, 1989
J. G. Jalon, E. Bayo, Kinematic and Dynamic
Simulation of Multi-body Systems The real time
challenge. Springer-Verlag, New York, 1994.
W. O. Schiehlen, Multi-body Systems Handbook,
Springer Verlag, Berlin-New York, 1990.
J. Wittemburg, Dynamics of system of rigid bodies,
Teubner, Stuttgart, 1977.
P. E. Nikravesh, Planar Multibody Dynamics:
Formulation, Programming and Applications, Taylor
& Francis Group, 2008.
R. Roberson, R. Schwertassek, Dynamics of
Multibody Systems, Springer Verlag, New York, 1988.
D. Negrut, Kinematics and Dynamics of Machine
Systems, University of Wisconsin, Madison
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Multi-body systems
Multi-body system: collection of
interconnected rigid bodies
mechanical joints limit relative motions of
pairs of bodies
MECHANICAL SYSTEM
=
BODIES + JOINTS + FORCES
The system changes its configuration in
time
We want to be able to predict &
change/control how system evolves
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Goals of the simulation
Kinematic analysis
Dynamic analysis
Inverse dynamic
Equilibrium analysis
Kinematic synthesis
Dynamic synthesis
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Initial data
Structure (components)
Geometric model (form)
Kinematic constraint (joints)
Forces
Imposed motion
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Structural analysis
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Kinematic Analysis
Concerns the motion of the system
independent of the forces that produce
the motion
Typically, the time history of one body in
the system is prescribed
We are interested in how the rest of the
bodies in the system move
Requires the solution linear and nonlinear
systems of equations
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Dynamics Analysis
Concerns the motion of the system that is
due to the action of applied
forces/torques
Typically, a set of forces acting on the
system is provided. Motions can also be
specified on some bodies
We are interested in how each body in the
mechanism moves
Requires the solution of a combined
system of differential and algebraic
equations (DAEs)
Everything is governed by Newtons Second
Law
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Inverse Dynamics Analysis
It is a hybrid between Kinematics and
Dynamics
Basically, one wants to find the set of forces
that lead to a certain desirable motion of the
system
11
Windshield wiper
mechanism
Robotic
Manipulator
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Simulation of a mechanical system
The state of a mechanical system changes
as a result of inputs
Equations are formulated which describe
the system
Equations are solved
Results are interpreted
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Representation of a rigid body
Aim of the kinematic and dynamic
simulation is the computation of position
(velocity and acceleration) as a function
of time.
The position of an element (rigid body)
can is given by a position vector and an
orientation vector.
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Position of a body in a plain
14
x
i
O
i
O
i
x
y
y
i

i
| |
T
i O O i
i i
y x q , , =
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Description of position
Vector
15
O
P
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Reference frames
Two type of reference frames
Fix
Mobile
16
x
y
O
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Description of position in a reference frame
A vector a can then be resolved into
components and , along the axes x
and y :
Cartesian components of the vector
17
x
y
O
a
a x
a

y
in the own reference frame
x y
a a a i j

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Properties
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Representation
19
x
x y
y
a
a a
a
l
l
= =
l
l
l
= a i j a

1 0
0 1
l l
l l
l l
l l
l l
j i


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Rotation
20
O
O
i
P
x
i
x
y
y
i

i
i
i
P i
i
P P
y x x sin cos =
i
i
P i
i
P P
y x y cos sin + =
(

=
(

=
(

i
P
i
P
i
i
P
i
P
i i
i i
P
P
y
x
A
y
x
y
x


cos sin
sin cos
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Transfer matrix
21
Expressing a given vector in one
reference frame (local) in a different
reference frame (global)
Also called a change of base.
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Translation and rotation
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point P in two different reference frames:
a local reference frame (LRF) and a global
reference frame (GRF)
Local reference frame is typically fixed (rigidly
attached) to a body that is moving in space
Global reference frame is the world reference
frame: its not moving, and serve as the universal
reference frame
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O
X
Y
O
'
P
s
x
y
r
P
r
P
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Coordinate transformation
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Viteza unui punct fix al unui corp mobil
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Acceleraia punctului
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Generalized Coordinates
Generalized coordinates:
A set of quantities (variables) that allow you to uniquely
determine the state of the mechanical system
You need to know the location of each body
You need to know the orientation of each body
The quantities (variables) are bound to change in time since
our system moves
In other words, the generalized coordinates are functions of time
The rate at each the generalized coordinates change is capture
by the set of generalized velocities
Most often, obtained as the straight time derivative of the generalized
coordinates
There are multiple ways of choose the set of
generalized coordinates that describe the state of a
system
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Coordonate relative
28
B
O
2
5
%
2
5
%
2
5
%
2
5
%
Y
X
m
1
g

1
L
2
5
%
2
5
%
2
5
%
2
5
%
L
m
2
g
2L
O
2
E

12
O
1
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Coordonate absolute
29
B
O
2
5
%
2
5
%
2
5
%
2
5
%
y
x
y
1

x
1

m
1
g

1
L
2
5
%
2
5
%
2
5
%
2
5
%
y
2

x
2

2
L
m
2
g
2L
O
2
O
1
E
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Relative vs. Absolute Generalized Coordinates
Relative coordinates:
Angle
1
uniquely specified both position and
orientation of body 1
Angle
12
uniquely specified the position and
orientation of body 2 with respect to body 1
few GCs
Absolute (and Cartesian) generalized coordinates:
x
1
, y
1
,
1
position and orient body 1 wrt GRF (global
RF)
x
2
, y
2
,
2
position and orient body 2 wrt GRF (global
RF)
many generalized coordinates
3 for each body in the system (six for this example)
easy to express locations but many GCs
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What is Kinematics?
Study of the position, velocity, and
acceleration of a system of interconnected
bodies that make up a mechanism,
independent of the forces that produce the
motion
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Why is Kinematics Important?
It can be an end in itself
Kinematic Analysis - Interested how
components of a certain mechanism move when
motion[s] are applied
Kinematic Synthesis Interested in finding how
to design a mechanism to perform a certain
operation in a certain way
NOTE: we only focus on Kinematic Analysis
It is also an essential ingredient when
formulating the Kinetic problem
People are more interested in the Dynamic
Analysis rather than in the Kinematic Analysis
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Nomenclature
Rigid body
Body-fixed Reference Frame (also called Local
Reference Frame, LRF)
Generalized coordinates
Cartesian generalized coordinates
NOTE: for a mechanism with nb bodies, the number of
Cartesian generalized coordinates associated is
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What are they, and what role do they play?
A collection of equations that if satisfied, they
coerce the bodies in the model to move like the
bodies of the mechanism
Most important thing in relation to constraints:
For each joint in the model, the equations of
constraint that you use must imply the relative
motion allowed by the joint
Keep in mind: the way you model should
resemble the physical system
Taxonomy of constraints:
Holonomic vs. Nonholonomic constraints
Scleronomic vs. Rheonomic constraints
Sometimes called Kinematic vs Driving constraints
34
Constraints
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Holonomic vs. Nonholonomic
Holonomic constraints are constraints that only involve
generalized coordinates
Nonholonomic constraints constraints that also involve the
time derivative of generalized coordinates (generalized
velocities). Example: roll without slip motion
Scleronomic (Kinematic) vs. Rheonomic
(Driving)
Scleronomic (Kinematic) constraints that do not depend
*explicitly* on time but rather exclusively on generalized
coordinates and possibly their time derivative
Notation Used:
Rheonomic (Driving) constraints that depend explicitly on
time. They actually define a motion
Notation Used:
Constraints
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Constraints
Scleronomic
Rheonomic
Holonomic
Nonholonomic
36
1 2
( , , . . . , ) 0
n
f q q q =
0 ) , . . . , , , , . . . , , , , . . . , , (
2 1 2 1 2 1
=
n n n
q q q q q q q q q f
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Degrees of Freedom
The number of degrees of freedom of a mechanism is
qualitatively related to the difference between the number of
generalized coordinates and the number of constraints that
these coordinates must satisfy
Kinematic Degrees of Freedom (KDOF): the difference between the
number of generalized coordinates and the number of Kinematic
(Scleronomic) constraints
It is an attribute of the model, and it is independent of generalized coordinates
used to represent the time evolution of the mechanism
Net Degrees of Freedom (NDOF): the difference between the
number of generalized coordinates and the total number of
constraints, be them Kinematic (Scleronomic) or Driving
(Rheonomic)
Depends on how many motions you decide to specify for the parts of the
mechanism
IMPORTANT OBSERVATION: For carrying out Kinematic
Analysis, a number of KDOF motions should be specified so that
in the end we have NDOF=0
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Exemplu
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Sistemul complet:
39
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Velocity and acceleration
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Constraints
Constraints
Absolute
Relative
Absolute:
position
orientation
distance
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Absolute Constraints
Called Absolute since they express constraint
between a body in a system and an absolute
(ground) reference frame
Types of Absolute Constraints
Absolute position constraints
Absolute orientation constraints
Absolute distance constraints
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Absolute Constraints
Absolute position
constraints
x-coordinate of P
i
y-coordinate of P
i
Absolute orientation
constraint
Orientation of body
43
Body i
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Absolute distance-constraint
The distance from a point P
i
to an absolute
(or global) reference frame stays constant,
and equal to some known value C
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Relative constraints
Relative x: the
difference between the
x coordinates of point
P
j
and point P
i
should
stay constant and
equal to some known
value C
1
Relative y: the
difference between the
y coordinates of point
P
j
and point P
i
should
stay constant and
equal to some known
value C
2
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Relative constraints
Relative angle: The
difference between the
orientation angles of
the RFs associated with
bodies i and j stays
constant and equal to
some known value C
3
Relative distance: The
distance between two
points P
j
and point P
i
should stay constant
and equal to some
known value C
4
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47
0 ) ( = = t f F
Rm
i j
Rm

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Driving motion
48
) sin( ) ( + + = t A x t f
o
m
,
sin( ), ;
( )
& .
o start end
m
const start end
x A t t t t
f t
x t t t t
+ +

=

< >

5
1
0
1
,
( ) , ;
( )
& .
i
i inceput sfarsit
m
i
const inceput sfarsit
c c t t t t
f t
x t t t t

< >

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Revolute joint constraint
49
O
O
O
i
i
x
i
O
i
O
iP
i
O
jP
j
O
j
O
O
j
x
Pj Pi
x
j
j
pozitia
restrictie de
rotatie
y
y
i
y
j
| |
i
P
i
P i
i i
y x P , =
| |
j
P
j
P j
j j
y x P , =
,
j j j i i i
P O OO P O OO + = +
(

=
(

=
(

i
P
i
P
i
i
P
i
P
i i
i i
P
P
y
x
A
y
x
y
x


cos sin
sin cos
0 =
(
(

+
(

j
Pj
j
Pj
j
Oj
Oj
i
Pi
i
Pi
i
Oi
Oi
y
x
A
y
x
y
x
A
y
x
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Constraint equation
50
0
cos sin cos sin
sin cos sin cos
=
(
(

+ +
+ +
j
j
Pj j
j
Pj Oj i
i
Pi i
i
Pi Oi
j
j
Pj j
j
Pj Oj i
i
Pi i
i
Pi Oi
y x y y x y
y x x y x x


; 0 sin cos sin cos
1
= + + =
j
j
Pj j
j
Pj Oj i
i
Pi i
i
Pi Oi
R
y x x y x x F
. 0 cos sin cos sin
2
= + + =
j
j
Pj j
j
Pj Oj i
i
Pi i
i
Pi Oi
R
y x y y x y F