Dynamic Simulation:

Constraint Kinematics

Objective

 The objective of this module is to show how constraint equations are

used to compute the position, velocity, and acceleration of the
generalized coordinates.
 These equations are kinematic in nature because they do not consider
the forces required to cause the motion.
 The kinematic and motion constraints developed in the previous
module (Module 3) for the piston-crank mechanism are used to
demonstrate the mathematics.
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 Section 4 – Dynamic Simulation
Notation
Module 4 – Constraint Kinematics
Page 2

 The total set of constraint equations

needed to define a mechanism
  k q  
 q, t    d   0
includes both kinematic constraints
and drive constraints.  q, t 
 There are 15 generalized coordinates
and 15 nonlinear constraint q is the set of generalized
equations for the piston-crank coordinates
assembly used in Module 3.  q 
k is the set of kinematic
constraint equations
 Since the piston-crank has a mobility
of one, only one of the fifteen  d q, t  is the set of motion
constraint equations
equations will be a motion constraint
that is an explicit function of time.

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 Section 4 – Dynamic Simulation

Position Module 4 – Constraint Kinematics

Page 3

 Solving the constraint equations

will yield the value of each
Constraint Equations
generalized coordinate at a
specific instance of time.   k q  
q, t    d   0
 q, t 
 The constraint equations are
non-linear and the Newton-
Raphson method is used as the Newton-Raphson Equations
solution method.   q, t  
1

qi 1  qi    q, t 

  q 
 The Newton-Raphson method is
where
iterative and converges when
the constraint equations are   q, t   is the Jacobian
 q 
satisfied.   matrix

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 Section 4 – Dynamic Simulation
Velocity Module 4 – Constraint Kinematics
Page 4

 The time derivative of the

constraint equations is used Constraint Equations
to determine the velocities of   k q  
the generalized coordinates. q, t    d   0
 q, t 
 Since the generalized
coordinates are a function of Time Derivative
time and the constraint   q, t       q    
           0
equations are a function of  t   q   t   t 
the generalized coordinates
and time, the chain rule for Velocities
1
partial differentiation must  q       
       
be used.  t   q   t 

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 Section 4 – Dynamic Simulation
Acceleration
Module 4 – Constraint Kinematics
Page 5
 The second time derivative of
1st Time Derivative of Constraint Equations
the constraint equations is
 q, t      q    
used to determine the            0
accelerations of the  t   q   t   t 

generalized coordinates. 2nd Time Derivative of Constraint Equations

  2  q, t             2    q 
       qq 2   
 Since the generalized  t 2
 
      
q q  q t   t 
coordinates are a function of      2 q    2  
    2    2   0
time and the constraint  q   t   t 
equations are a function of Accelerations
the generalized coordinates          
and time, the chain rule for 1      qq 
  q       q   q   
2

partial differentiation must 
 2    
 t   q        q     
2 2

be used.  2  qt   t    t 2 
     

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 Section 4 – Dynamic Simulation
Summary of Equations Module 4 – Constraint Kinematics
Page 6

Constraint Equations
Newton-Raphson Equations
  k q   Used to determine the position
q, t    d   0
 q, t 
(values of the generalized
coordinates) at an instant in time.
Velocities of Generalized Coordinates
 q, t 
1

qi 1  qi    q, t 

 q 
1
 q       
      
 t   q   t 

Accelerations of Generalized Coordinates

1
  q    
2            2    q    2  
 2        qq 2       2 
 t   q    q   q     qt   t   t 

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 Section 4 – Dynamic Simulation

Jacobian Module 4 – Constraint Kinematics

Page 7

 The Jacobian and its inverse is   

needed to determine the J     Jacobian matrix
 q 
position, velocity, and
acceleration of the generalized
coordinates. Error messages indicating that
the Jacobian is singular are
 Each i,j (row,column) term in sometimes encountered when
the Jacobian matrix is given by running multi-body dynamic
programs.

This occurs when there is not a

 i ith constraint equation
J i, j  physically realizable solution.
q j
jth generalized coordinate

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 Section 4 – Dynamic Simulation
Piston-Crank Constraint Equations
Module 4 – Constraint Kinematics
Page 8

1) X cgA156.8  0 4) X cgE  0
 The fifteen constraint
2)Y cgA 0 5)YcgE  0
equations developed
3)  0A 6) cgE  0
for the piston-crank cg

mechanism in Module 7) X cgC  41.3 cos  C  X cgD  43 sin  D  0

3 are given on the 8)YcgC  41.3 sin  C  YcgD  43 cos  D  0
right. 9) X cgB  28 cos  B  X cgC  102.6 sin  C  0
10)YcgB  28 sin  B  YcgC  102.6 cos  C  0
 Note that only the 11) X cgD  X cgE  0
motion constraint is 12)YcgD  YcgE  0
an explicit function of 0  1 cos  A
T
 sin  A 
T
 X CG
B
  X CG
A

13) 1 0      B    A   0
time. 1 0   sin 
A
cos  A  YCG  YCG 
0  1 cos   sin   cos  B
A T
 sin  B  1
T A
14) 1 0      B   
0
  sin  cos  A   sin  B cos   0
A
1 0

15) D  314  t  0

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 Section 4 – Dynamic Simulation

Piston-Crank Jacobian Module 4 – Constraint Kinematics

Page 9

The Jacobian of the constraint equations is given below. Although there are many
terms, there are a lot of zeros and the derivatives are easily computed.
 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0
 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0

 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0
 
 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0
 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0
 
 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1
 0 0 0 0 0 0 1 0  41.3 sin  C  1 0  43 cos  D 0 0 0
 
41.3 cos  C 0  1  43 sin  D
  i  
0 0 0 0 0 0 0 1 0 0 0
J       0 0 0 1 0  28 sin  B  1 0  102.6 cos  C 0 0 0 0 0 0

 q j 
 0 0 0 0 1 28 cos  B 0  1  102.6 sin  0 0 0 0 0 0
 
 0 0 0 0 0 0 0 0 0 1 0 0 1 0 0
 0 0 0 0 0 0 0 0 0 0 1 0 0 1 0

sin  A
 
 X cg  X cg cos  
A B A 
 cos  A
 A
 sin  A cos  A 0
 
0 0 0 0 0 0 0 0 0
  Ycg  Ycg sin  
A B 
 
  sin  A cos  B  sin  A sin  B  
 0 0   0 0   0 0 0 0 0 0 0 0 0
  sin 2  A   cos  A cos  B  
 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0

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 Section 4 – Dynamic Simulation
Velocities Module 4 – Constraint Kinematics
Page 10

 The velocities of the generalized Motion Constraint

15) D  314  t  0
coordinates are computed from
the equation  0 
 0 
1  
 q         0 
        
 t   q   t  Required Array 
0 
0 
 
 Since the Jacobian is known, this 
 0 
0 

equation can be solved if the array     

  0 
containing the time derivatives of  t  
0 
 
the constraint equations is found.  0 
 
 Only the motion constraint, (15),  0 
 0 
is an explicit function of time. 
0

 
 0 
 
 314

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 Section 4 – Dynamic Simulation
Acceleration
Module 4 – Constraint Kinematics
Page 11

The accelerations can be computed if each term is found.

1
  q    
2            2    q    2  
 2       q q 2       2 
 t   q    q   q     qt   t   t 
 0  0
 0  0
   
 0  0
This term is The time    
Inverse of the  0  0
explained on derivative of  0  0
Jacobian    
the next slide.  0  0
the Jacobian  0  0
is zero.           
2
   
 t  
0    2   0
 t  0
0 
   
 0  0
   
 0  0
 0  0
   
 0  0
 0  0
   
 314 0

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 Section 4 – Dynamic Simulation

Acceleration Term Module 4 – Constraint Kinematics

Page 12

This term is evaluated by breaking it down

into a series of operations that are easily        
done on a computer.    q q
 q   q   
Step 1) Multiply the Jacobian by the   
velocities. This creates a  q q
column array.  

Step 2) Take the derivative of each row

     
  q
with respect to each
generalized coordinate. This q   q  
operation is similar to finding
the Jacobian and results in a
matrix.
       
   q q
Step 3) Multiply the matrix by the
 q   q   
velocities. This results in a
column array.

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 Section 4 – Dynamic Simulation

Redundant Constraints Module 4 – Constraint Kinematics

Page 13

 The Jacobian matrix is an important  The rank of a matrix is equal to the

quantity and enables the position, number of independent rows or
velocity, and acceleration of the columns.
generalized coordinates to be found.
 Independent rows or columns can not
 Application of the methods contained be written as a linear combination of
in this module requires that the other rows or columns.
Jacobian have an inverse.
 If rows or columns of the Jacobian are
 This requires that the determinant of not independent the Jacobian is
the Jacobian be non-zero or that the singular and the problem does not
rank be equal to the number of have a solution.
generalized coordinates.

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 Section 4 – Dynamic Simulation

Redundant Constraints: Detection Module 4 – Constraint Kinematics

Page 14

 The Dynamic Simulation environment

within Autodesk Inventor software
assembles the Jacobian and nq  number of generalized
determines its rank as each constraint coordinates
is added. nc  number of constraints
 The rank gives the number of nic  number of independent
independent constraints. constraints
 The difference between the number of
Degree of Mobility
generalized coordinates and the dom= nq – nic
number of independent constraints is
equal to the degree of mobility. Degree of Redundancy
 The difference between the number of dor = nc-nic
constraints and the number of
independent constraints is equal to
the degree of redundancy.
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 Section 4 – Dynamic Simulation

Redundant Constraints: Reaction Forces Module 4 – Constraint Kinematics

Page 15

 A redundant constraint occurs when the Joints having friction are

motion associated with a DOF is enforced particularly effected by
by too many constraint specifications. redundant constraints.
 One or more of the constraint
specifications can be removed without Friction forces are based on
affecting the mobility of the system. the joint normal forces.
 The joint reactions can not be
Therefore, the friction forces
independently determined when
are incorrect if the joint
redundant constraints are present. normal forces are incorrect
 Although solutions can be obtained they due to redundant
are based on assumptions by the program constraints.
as to which constraints to use.
 Different assumptions will yield different
answers.

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 Section 4 – Dynamic Simulation

Redundant Constraint: Example Module 4 – Constraint Kinematics

Page 16

 A simple four bar mechanism will have 3

redundant constraints if revolute
joints are used at all joints. Coupler
 The ground link shown in the figure is
fixed. Rocker
2
 The revolute joint at 1 prevents the
Drive
drive link from rotating about its long
axis and moving normal to the joint 1 Ground 4
plane.
 The revolute joint at 2 prevents the A revolute joint at 3 is redundant
coupler from rotating about its long because neither the rocker or
axis and moving normal to the joint coupler can rotate about their long
plane. axis or move normal to the joint
 The revolute joint at 4 prevents the plane due to the other revolute
rocker from rotating about its long axis joints. These degrees of freedom
and moving normal to the joint plane. are already restrained.
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 Section 4 – Dynamic Simulation

Redundant Constraints: Example Module 4 – Constraint Kinematics

Page 17

 A point-line joint must be used at joint 3.

 A point-line joint restricts a point (the Point - Line

center point of the hole at joint 3 on the 3
coupler) to remain on a line (the
centerline of the hole at joint 3 on the Coupler
rocker). Revolute Rocker
2
 Redundant joints can be confusing and a
Drive
detailed analysis of what each joint is
doing is required to figure out how to 1 Ground 4
remove them. Revolute Revolute

 An example of how to remove redundant

constraints is provided in the next
module: Module 5.

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 Section 4 – Dynamic Simulation

Module Summary Module 4 – Constraint Kinematics

Page 18

 This module showed how the constraint equations can be used to

find the position, velocity, and acceleration of the generalized
coordinates.
 Kinematic relationships were used during the derivation and no
mention of the forces required to impose the motion constraints was
made.
 The constraint equations for the piston-crank introduced in the
previous module (Module 3) were used to demonstrate the
mathematical steps.
 The Newton-Raphson method is generally used to solve the
constraint equations.
 The Jacobian is a key component of the overall solution process and
the rank of the Jacobian is used to detect redundant constraints.
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