Multi-Body Systems: Iker Aguinaga

Multi-body Systems
Iker Aguinaga
June 18, 2010
Iker Aguinaga () Multi-body Systems June 18, 2010 1 / 34
1
Natural Coordinates in 2D
2
Kinematical Problems
3
Constraint Dynamics
4
R method
Introduction
A Multi-body System or Mechanism is formed by a set a rigid solids,
linked by kinematical relationships or Joints:
For example a body can rotate around other but no other motion is
possible
A Multi-body System is not like a Particle System!
Multi-body system are an example of constrained dynamics:
Bodies need to fulll the equations of Dynamics,
and their motion constraints.
3
Introduction
The Degrees of Freedom (DOFs) of a Mechanism are a minimal set of
parameters that can be used to position it univocally.
A coordinate is one of these parameters.
Coordinates are dependant if their number is above that of the number of
degree of freedom:
In that case the coordinates need to be related by algebraic
relationships or restrictions.
If we have a mechanism with g DOFs, n coordinates and m restricion then:
g = n m (1)
Joints
Revolution (R) Gear Universal / Cardan (U) Spherical (S)
Prismatic (P) Rolling Cilindrical (C)
Relative Coordinates
C
D
A
B
L
1
L
3
2
s
3
Reference Point Coordinates
A
B
C
D
1

3
2
x y
2 2
,
x y
3 3
,
x y
1 1
,
Natural Coordinates
Natural Coordinates in 2D
Each solid has:
at least 2 points (2D),
each articulation has 1 point,
prismatic joints are dened by 3 aligned points,
and as many additional points as required.
Example (Slider-Crank mechanism):
(x
1
x
A
)
2
+ (y
1
y
1
)
2
L
2
1
= 0 (2)
(x
2
x
1
)
2
+ (y
2
y
1
)
2
L
2
2
= 0 (3)
(x
2
x
C
)(y
C
y
B
) (y
2
y
C
)(x
C
x
B
) = 0 (4)
A
B C
1
2
Rigid Solid Restrictions
1
2
L
12
(x
2
x
1
)
2
+ (y
2
y
1
)
2
L
12
2
= 0
(x
2
x
1
)
2
+ (y
2
y
1
)
2
L
12
2
= 0
(x
3
x
1
)
2
+ (y
3
y
1
)
2
L
13
2
= 0
(x
3
x
2
)
2
+ (y
3
y
2
)
2
L
23
2
= 0
1
2
3
L
12
L
13
L
23
Rigid Solid Restrictions
1
2
3
L
12
L
23
(x
2
x
1
)
2
+ (y
2
y
1
)
2
L
12
2
= 0
(x
3
x
1
)
2
L
13
L
12
(x
2
x
1
) = 0
(y
3
y
1
)
2
L
13
L
12
(y
2
y
1
) = 0
(x
2
x
1
)
2
+ (y
2
y
1
)
2
L
12
2
= 0
(x
3
x
1
)
2
+ (y
3
y
1
)
2
L
13
2
= 0
(x
3
x
2
)
2
+ (y
3
y
2
)
2
L
23
2
= 0
(x
4
x
1
) (x
2
x
1
) (x
3
x
1
) = 0
(y
4
y
1
) (y
2
y
1
) (y
3
y
1
) = 0
1
2
3
4
L
12
L
23
L
13
Cinematic Pairs
1 2
x
1
x
2
= 0 y
1
y
2
= 0
1
2
3
4
(x
2
x
1
)(y
3
y
1
) (y
2
y
1
)(x
3
x
1
) = 0
1
2
3
4
(x
2
x
1
)(y
3
y
1
) (y
2
y
1
)(x
3
x
1
) = 0
(x
2
x
1
)(x
4
x
3
) + (y
2
y
1
)(y
4
y
3
) c = 0
Relative Coordinates
2 1
3
(x
2
x
1
)(x
3
x
1
) + (y
2
y
1
)(y
3
y
1
)
L
12
L
13
cos = 0
1
2
3
4
s
(x
3
x
1
)
s
L
12
(x
2
x
1
) = 0
(y
3
y
1
)
s
L
12
(y
2
y1) = 0
Kinematic Problem
When we model a mechanism we get two set of coordinates:
q, the set of all coordinates, this are dependant coordinates used to
model the mechanism.
z, the set of independent coordinates or DOF, which usually is a
subset of q
There are 3 types of kinematical problems:
Problem Input (known values) Output
Position z q
Velocity q, z q
Acceleration q, q, z q
Position Problem
Position Problem: Given the values of the DOF z calculate the position
of the whole mechanism q.
We know the non-linear the contraint equations for the system:
(q, t) =
_
_
_
1
(q, t)

m
(q, t)
_
_
_
= 0 (5)
Given a set of DOF coordinates z we want to nd the values of q that
fulll those equation Newton Raphson Method:
(q + q, t)
= (q, t) +
q
(q + q, t) q 0 (6)
Position Problem
Where:
q
=
_
1
q
1
1
q
2

1
q
n
2
q
1
2
q
2

2
q
n
.
.
.
.
.
.
.
.
.
m
q
1
m
q
2

m
q
n
_
_
(7)
We can iterate to obtain values of q closer to the solution:
q
(q
i
, t) q = (q
i
, t) (8)
Position Problem
The process can resumed as:
1
We dene an initial approximation q
0
with the correct values of z.
2
We compute a new approximation
q
(q
i
, t) q = (q
i
, t)
3
q
1
= q
0
+ q
4
We iterate until the system converges to a solution.
One way to avoid having to correct the input values is to add additional
constraint equations that enforce the values of the variable.
Velocity and Acceleration Problems
Velocity Problem: Knowing the speed of the DOF and the position of
the mechanism calculate the velocity of all the coordinates:
d
dt
(q
i
, t) =

(q
i
, t) =
q
q +
t
q
q =
t
(9)
Acceleration Problem: Knowing the acceleration of the DOF and the
position and velocities of the entire mechanism calculate the acceleration
for all coordinates:
(q
i
, t) =
q
q +

q
q +

q
q =
q
q

t
(10)
Constrained Dynamics: Introduction
We want to nd the trajectories that make a system react to external
forces Q but also to comply with the kinematical restrictions of the system.
One way to impose those kinematical restrictions is by some force that
guaranties its fulllment. These forces are known as reaction forces Q
.
Virtual Work Principle
Consider a particle system in equilibrium. The total force acting on each
particle is:
F = 0
If we take an arbitrary displacement of the particles r the total work of
the forces is:
W =
F
i
r
i
= 0
W =
F
i
exterior
r
i
+
F
i
constraint
r
i
= 0
(11)
For displacements that are not arbitrary but compatible with the
restrictions, then:
F
i
constraint
r
i
= 0
W =
F
i
exterior
r
i
= 0
(12)
For a system in equilibrium the work of external forces when the
system is displaced virtually and compatibly with system constraints
is 0.
Compatible Displacements
A displacement compatible with a given constraint maintains its value:
(q) = 0
(q + q) = 0
(13)
We can use a Taylor decomposition:
(q + q) (q)
. .
0
+
q
q = 0
q
q = 0 (14)
Compatible displacements are orthogonal to the rows of the jacobian
matrix.
This rows are the gradient vectors of the constraint equations and
represent the directions where the change in the value of the constraints
increases faster (that is the direction where it separates more from its
current value 0).
Constraint Forces
Constraints are enforce by so called Reaction forces.
Since these constraint forces cannot increase the energy of a system
(produce work) their direction needs to orthogonal to compatible
displacements.
Therefore, they will be proportional to the rows of the Jacobian Matrix of
the constraints:
F
constraints
=
q
T
(15)
DAlamberts Principle: Dynamic Equilibrium
To apply the Virtual Work Principle we need a system in equilibrium.
If we apply an acceleration a
i
to each particle of the system equal to its
acceleration and with the contrary direction we will get a system in
equilibrium:
F
i
exterior
m
i
a
i
= 0 (16)
These accelerations are equivalent to a external force, the inertia forces.
Adding these forces transforms a dynamic system into a system in
equilibrium where the Virtual Work Principle applies!
Multibody Modeling
i
x
0
r
i
x
e
P
r
e
r
P
j
y
e
y
0
Forces acting on a Multibody System in Dynamic
Equilibrium
The virtual work for the inertia Forces can be written as :
W
in
e
= q
e
T
M
e
q
e
(17)
where q
e
are the coordinates used to modelled the position of the body or
particle.
For a particle system M
e
is a diagonal matrix. For a 2D rigid solid
modelled using natural coordinates is:
M
e
=
_
_
M +
I
i
L
2
ij
2M
e
x
G
L
ij
0
M
e
x
G
L
ij
I
i
L
2
ij
M
e
y
G
L
ij
M +
I
i
L
2
ij
2M
e
x
G
L
ij
M
e
y
G
L
ij
M
e
x
G
L
ij
I
i
L
2
ij
I
i
L
2
ij
0
sim.
I
i
L
2
ij
_
_
(18)
Forces acting on a Multibody System in Dynamic
Equilibrium
The external forces produce a virtual work whose value is:
W
F
= q
e
T
T
P
T
F = q
e
T
Q
F
(19)
For a rigid solid modelled with two points the matrix is:
T
P
=
_
1
e
x
P
L
ij
e
y
P
L
ij
e
x
P
L
ij
e
x
P
L
ij
e
y
P
L
ij
1
e
x
P
L
ij
e
y
P
L
ij
e
x
P
L
ij
_
(20)
Motion Equations: Lagrange Multipliers
The work performed by external forces (including inertia forces) when we
apply a compatible displacement has to be 0:
W
in
+ W
ext
= 0 (21)
This means:
q
T
M q + q
T
Q = 0 (22)
q
T
(M q Q) = 0 (23)
But we cannot remove q because the coordinates are related: In principle
they are dependant coordinates!
Since Constraints forces do not produce work for compatible displacements
we can add their virtual work:
q
T
_
M q Q +
T
q

_
= 0 (24)
Since the are unknown we can choose those that make the equation
valid regardless of the displacements.
Therefore:
M q Q +
T
q
= 0 (25)
We have a system m+n unknowns (m coordinates and n lambdas one for
each constraint equation )and only n equations.
But due to kinematics we also know that:
q
q =
q
q

t
(26)
Therefore we obtain the following linear equation system:
_
M
T
q
q
0
_ _
q
_
=
_
Q
q
q

t
_
(27)
n
M
q
T
q
0
q
..
Q
-
q
q - t
. .
=
n
m
m
Reducing the equation system
We can write the position problem as some function f of the DOF z:
q = f (z) (28)
Deriving with regards to time we get a relationship between the velocities
of the DOFs and the coordinates:
q = R z (29)
Where:
R =
q
z
(30)
Since velocities and displacements follow the same relationships, we can
also say q = Rz.
This relationship can be substituted into the equation of the principle of
virtual work:
q
T
(M q Q) = 0 (31)
We get:
z
T
R(M q Q) = 0 (32)
Initially we could not remove the virtual displacements because they were
dependent. Now we can remove z
T
beacuse it contains the virtual
displacements of the DOFs that are independent.
Therefore: R(M q Q) = 0
Since q is a function of z we can remove q. Deriving once more we get:
q = Rz +

R z (33)
And substituting, we get:
R
T
MRz + R
T
M
R z R
T
Q = 0 (34)
This equation describes a system of dierential equations with the same
number of equation than the number of DOFs of the system. To solve this
system we have to compute the matrix R and the vector

R z
Computing R and

R z
To compute the matrix R we can use the relationship q = R z. If of all the
posible velocities of the DOF we select a ctious velocity vector with all
velocities 0 except for position i with a velocity of 1 we get:
q =
_
R
1
|R
2
| |R
i
|
_
0
0
.
.
.
1
.
.
.
_
_
= R
i
(35)
The i-th column of R is the velocity q when the degrees of freedom have a
0 velocity except for DOF i that has a velocity of 1.
We can use this to solve n velocity problems ( one per DOF) and compute
the matrix R.
Computing R and

R z
If we start from the equation:
q = Rz +

R z (36)
We notice that the vector Rz are the accelerations q when z = 0.
We can solve the acceleration problem with z = 0 and obtain the vector.
Note that in this case we need the actual velocities of the mechanism and
not the ctious velocities used for obtaining R

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