Introduction to Multibody Dynamics

Part I: Modeling and Kinematics

November 26, 2010

Javier Cuadrado
Warsaw University of Technology

LIM Laboratorio de Ingeniería Mecánica

Universidad de La Coruña http://lim.ii.udc.es
 Virtual product development
ƒ Multibody system: mechanical system which is mobile or has mobile parts.
ƒ Multibody dynamics:
ƒ Computer simulation of the dynamics of multibody systems.
ƒ It belongs to the general concept of virtual product development.

ƒ Advantages:
• Anticipation of system behavior
during the first stages of the design
process.
• Reduction of physical prototypes
and experimental tests.
• Consequences: higher quality,
lower cost, earlier in the market.

LIM Laboratorio de Ingeniería Mecánica

Universidad de La Coruña http://lim.ii.udc.es
 Multibody dynamics
ƒ Computational mechanics of machines and mechanisms: mechanics +
numerical methods + programming.
ƒ Enables to solve in the computer the forward dynamics (and the
kinematics, and the inverse dynamics) of models of machines and
mechanisms as detailed as desired.
ƒ Industrial fields of application:
ƒ Automotive, Aerospatial, Railway, Naval,
Heavy Machinery, Machine-Tool,
Robotics, Biomechanics, Health, Sports,
Entertaining, etc.
ƒ Application in all the stages of the
design process:
ƒ Design, Simulation, Analysis, Control,
Test, Manufacturing and Maintenance.

LIM Laboratorio de Ingeniería Mecánica

Universidad de La Coruña http://lim.ii.udc.es
 Examples

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Universidad de La Coruña http://lim.ii.udc.es
 Examples

LIM Laboratorio de Ingeniería Mecánica

Universidad de La Coruña http://lim.ii.udc.es
 Stages of the multibody dynamics problem
ƒ Problem stages:
ƒ Physical modeling: simplifications,
theories for flexibility, contact, etc.
ƒ Coordinates selection.
ƒ Formulation of the equations of
motion: kinematics and dynamics.
ƒ Numerical integration.
ƒ Implementation: Fortran, C++,
Matlab.
ƒ Basic topics:
ƒ Modeling.
ƒ Kinematics.
ƒ Dynamics.

LIM Laboratorio de Ingeniería Mecánica

Universidad de La Coruña http://lim.ii.udc.es
 Modeling: traditional method
ƒTraditionally, mechanisms are modeled in minimum
coordinates on Classical Mechanics.
ƒMinimum coordinates: as many as the system degrees of
freedom (independent).
ƒClosed loops are problematic.

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 Modeling: computational method

ƒDependent coordinates: more than the system degrees of

freedom.
ƒRelated through constraint equations.
n: number of coordinates
g: number of system degrees of freedom
m: number of constraint equations

m=n-g

ƒThree families: relative, reference point, natural.

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Universidad de La Coruña http://lim.ii.udc.es
 Modeling: relative coordinates

AB + BC + CD − AD = 0

L1 cosψ 1 + s cos(ψ 1 + ψ 2 − π ) + L3 sen(ψ 1 + ψ 2 − π ) − L4 = 0

L1 senψ 1 + s sen(ψ 1 +ψ 2 − π ) − L3 cos(ψ 1 +ψ 2 − π ) = 0

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 Modeling: reference point coordinates
L1
( x1 − x A ) − cos ψ 1 = 0
2
L1
(y1 − y A ) − sen ψ 1 = 0
2

L1 L
(x1 + cos ψ 1 ) − (x 2 − 2 cos ψ 2 ) = 0
2 2
L L
(y1 + 1 sen ψ 1 ) − (y2 − 2 sen ψ 2 ) = 0
2 2

π
ψ 3 − (ψ 2 + ) = 0
2
L3
(x2 − x 3 )cos ψ 3 + (y 2 − y 3 )sen ψ 3 − =0
2

L3
(x3 − x D ) − cos ψ 3 = 0
2
L
(y3 − y D ) − 3 sen ψ 3 = 0
2

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 Modeling: natural coordinates

( x1 − x A )2 + (y1 − y A )2 − L21 = 0

(x2 − x1 ) 2 + (y 2 − y1 )2 − L22 = 0

( x3 − x D ) + ( y3 − y D ) − L3 = 0
2 2 2

(x2 − x1 )( x3 − x D ) + (y 2 − y1 )( y3 − y D ) = 0

(x3 − x1 )(y2 − y1 ) − (y3 − y1 )(x 2 − x1 ) = 0

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 Modeling: mixed coordinates (natural + relative)

( x1 − x A )2 + (y1 − y A )2 − L21 = 0

(x2 − x1 ) 2 + (y 2 − y1 )2 − L22 = 0

( x3 − x D ) + ( y3 − y D ) − L3 = 0
2 2 2

(x2 − x1 )( x3 − x D ) + (y 2 − y1 )( y3 − y D ) = 0
ϕj
(x3 − x1 )(y2 − y1 ) − (y3 − y1 )(x 2 − x1 ) = 0

( x1 − x A )( xD − x A ) + ( y1 − y A )( yD − y A ) − L1L4 cos ϕ = 0

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 Modeling: examples
s
1
2 2
1 ϕ ψ
B A B
ϕ 3

A v1

p2
p1
p1
vA

p3 ϕ
pA
ψ
p2
pB
pA
pB
vA
vB vB

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 Modeling: examples
ϕ
vA
v1
pA

v3
p8
s
v2 p9
p5
v1 p10
pB z
p7
z p4
y
v4 x v2
pC p1 p6
y p3
x v4 v3
ψ v1
p2
pD
p1
pE
s p2

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Universidad de La Coruña http://lim.ii.udc.es
 Kinematics: position problem
q t = {x1, y1 , x2 , y2 , α}
( x1 − x A )2 + ( y1 − y A )2 − L21 = 0
( x2 − x1 ) 2 + (y 2 − y1 )2 − L22 = 0
Φ(q) = 0
(x2 − x B ) + (y 2 − y B ) − =0
2 2 2
L3
(x1 − x A ) − L1 cosα = 0

Φ(q) ≅ Φ(q0 ) + Φ q (q 0 )(q − q 0 ) = 0 Φ q (q 0 )(q − q0 ) = −Φ(q 0 )

⎡ 2(x1 − x A ) 2(y1 − x A ) 0 0 0 ⎤
⎢−2(x − x ) −2(y − y ) 2(x 2 − x1 ) 2(y 2 − y1 ) 0 ⎥
Φq (q) = ⎢ ⎥
2 1 2 1
⎢ 0 0 2(x 2 − x B ) 2(y2 − y B ) 0 ⎥
y ⎢ L1 sen α ⎥⎦
⎣ 1 0 0 0
f(x)

Φ q (qi )(qi +1 − qi ) = −Φ(q i )

x
x i+2 x i+1 xi

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 Kinematics: velocity and acceleration problems

Φ(q) = 0 Φ q (q )q = 0  q q
 = −Φ
Φ q (q)q

⎧ 2( x12 + y12 ) ⎫
⎪ 2 ⎪
 q q = − ⎪⎨2[( x 2 − x1 ) + ( y 2 − y1 ) ]⎪⎬
2
−Φ
⎪ 2 ( 
x 2
2 + 
y 2
2) ⎪
⎪ α  2
cosα ⎪
⎩ L 1 ⎭

⎡ 2(x1 − x A ) 2(y1 − x A ) 0 0 0 ⎤
⎢−2(x − x ) −2(y − y ) 2(x 2 − x1 ) 2(y 2 − y1 ) 0 ⎥
Φq (q) = ⎢ ⎥
2 1 2 1
⎢ 0 0 2(x 2 − x B ) 2(y2 − y B ) 0 ⎥
⎢ L1 sen α ⎥⎦
⎣ 1 0 0 0

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