Modelling and Simulation of Mechanical System

Exam 1st July 2013

written

The Gear sector driver in figure is actually a four-bar linkage combined with a set of gears. The input body is
fixed on ground with a revolute joint in P1 and connected to body 2 with a revolute joint in P2. The body 3
is pinned on ground in P3, connected to body 2 in P5. The sector of gear of body 3, with radius r3 is
engaged with gear 4 of radius r4 pionned on ground in P4. The distance between the point P1 and P3 and
L
between P3 and P4 is La and Lb. The distance between P1 and P2 is L1 = and the distance between P2
3
2L
and P5 is L2 = L and the distance between P5 and P3 is L3 = . Finally La = L. The input body rotates
3
at constant velocity ω. Figure also shows the initial contact points between the two gears. The two gear are
initially in contact when the two angles q3 and q4 are equal to zero.
The mechanism is described using the body coordinates with the reference frames located as shown in
figure.
System data:
L = 0.1m, w = 100rpm, r3 = 0.1m, α = 120°

Part 1: kinematics (15 points)

1.1 Derive the kinematic constraint equations

> xi := []; independent coordinates

xd := []; dependent coordinates
> Phi := []; list of constraint equations
1.2 Derive the input output relationship between rotational velocities

> tau_io := ; ratio between output velocity divided by input velocity

1.3 Compare the output velocity ratios as a function of the gear ratios
Consider r4 equal to r3 or 50% larger or 100% smaller.

Plot here the ratio as a

1.3 Discuss the singular configurations of the mechanism

Part 2: dynamics (15 points)

2.1 Derive the equations of motion using the lagrange approach

Put equations in standard form for Multibody Systems

2.2 Write the full initial conditions for the DAE system

Solution