Dynamic Simulation: Constraint Equations

Dynamic Simulation:
Constraint Equations
Objective
 The objective of this module is to develop the equations for ground,

revolute, prismatic, and motion constraints for a planar mechanism.
 These equations will be developed for a piston-crank assembly in a
Boxer style engine.
 These constraint equations will be used in the next Module (Module
4) to show how position, velocity, and accelerations are computed.
 Although the equations developed for this module are for a planar
(2D) mechanism, the methods can be generalized to 3D mechanisms.
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Section 4 – Dynamic Simulation
Boxer Style Engine Module 3 – Constraint Equations

Page 2
 Boxer style engines have a

horizontally opposed piston
configuration.
 This has several advantages
 Lower center of gravity
 Lower vertical height
 Lighter weight
 Less vibration
 Boxer style engines are used by
Porsche and Subaru.
 Because of their low vertical
profile they are often called
pancake engines.
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Cross Section View Module 3 – Constraint Equations

Page 3
This module will use the piston-crank portion of this engine to

demonstrate how kinematic and motion constraints are developed.
Counterweight
Rod Bolt
Bottom
Bearing
Cylinder Cap
Piston
Liner
Pin Piston Connecting
Bearing Piston Rod
Pin
Crank Shaft
Crank Bearing
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Planar System Module 3 – Constraint Equations

Page 4
 The boxer engine rotating

Cylinder 1
assembly contains four piston Cylinder 2
assemblies.
 Constraint equations will be
written for one piston
assembly to demonstrate the
process.
Cylinder 3
 This single assembly can be
represented as a planar Cylinder 4
mechanism.
 A Dynamic Simulation of the The planar equations will be
complete system will be developed for Cylinder 3.
presented in another module.
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Global Coordinate System Module 3 – Constraint Equations

Page 5
Z
 The constraint equations will be
referenced to the stationary
coordinate system shown in the
figure.
 This reference coordinate system is X
called the global coordinate system.
 Capital letters are used to indicate Cylinder 3
that a coordinate or vector refers to
this coordinate system.
 Lower case letters will be used to Y
indicate a coordinate or vector is
referred to a body fixed coordinate X
system associated with a part.
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Part ID’s Module 3 – Constraint Equations

Page 6
The process of
developing the constraint A
Cylinder Liner
equations is facilitated by E
identifying each Crank Bearing
(Not Visible)
component by a letter.
The five components

shown with letters make
up the basic system for
which the constraint
equations will be written.
B
Piston C
Connecting
Rod D
Crank Shaft
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Mobility Module 3 – Constraint Equations

Page 7
 Gruebler’s equation can be used to establish the mobility of the planar

mechanism. A
Cylinder Liner
E
 Bodies (B) = 5 Crank Bearing
(Not Visible)
 Grounded bodies (G) = 2
 Revolute joints (R) = 3
 Prismatic joints (P) = 1
Mobility
DOF  3( B)  2( R)  2( P)  3(G )
 3(5)  2(3)  2(1)  3(2)  1 B
Piston C
Connecting
A mobility of one will require one Rod D
motion constraint. Crank Shaft
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List of DOF’s Module 3 – Constraint Equations

Page 8
X cgA
 The DOF’s are associated
YcgA
with a set of generalized List of Generalized Coordinates
A
coordinates.
X cgB
 Each body has 3 DOF and 3 YcgB
Format
generalized coordinates. X-coordinate of the B
 The generalized coordinates cg of Body A X cgC
for the planar mechanism Body YcgC
are listed on the right. A C
 Fifteen constraint equations
X cg X cgD
must be developed that will YcgD

Capital letter
enable each of the fifteen indicates that Center of D
generalized coordinates to variable is associated Gravity X cgE

with the global YcgE
be determined. coordinate system.
E
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Ground Joints Module 3 – Constraint Equations

Page 9
 The cylinder liners are

pressed into the engine Cylinder 1
block and do not move. Cylinder 2
 The pistons move relative

to the cylinder liners and
the combination make a
prismatic joint. Cylinder 3
Cylinder 4
 The cylinder liners must be
mathematically grounded
or fixed in space.
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Cylinder Liner Ground Equations Module 3 – Constraint Equations

Page 10
The location of the center of

gravity and the orientation of the
principal axes of inertia are y
shown in the figures. x
The ground constraint equations

that fix the position of the c.g.
and orientation of the principal
axes can be written as y
z
X cgA156.8 mm  0
Y cgA 0
 cgA 0
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Crank Bearing Ground Joint Module 3 – Constraint Equations

Page 11
Virtual Crank Bearing

 The crank bearing is fixed in the Located at the Origin
engine block and does not move. Y
 The crank shaft rotation relative to Z
the crank bearing can be represented
by a revolute joint. X
 All of the parts in the planar system
must lie in the global X-Y plane.
 Therefore, a “virtual” crank bearing
Crank Bearing
will be placed at the origin of the Constraint Equations
global coordinate system so that the
X E
0
planar equations can be developed. cg
YcgE  0
 cgE  0
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Summary of Ground Joint Equations Module 3 – Constraint Equations

Page 12
Cylinder Liner Virtual Crank Bearing

X cgA156.8 mm  0 X cgE  0
Y cgA 0 YcgE  0
 cgA 0  cgE  0
 Each of these equations fix one DOF for the

respective part in space.
 None of the equations are a function of time.
 None of the equations involve more than one part.
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2D Coordinate Transformation Matrix Module 3 – Constraint Equations

Page 13
y cos θ
 In subsequent slides it will be y sin θ
necessary to transform the Y θ
components of a vector from a x
body fixed coordinate system to x sin θ

the global coordinate system. y
θ
 This transformation is X
accomplished with the x cos θ
transformation matrix [T()]. Matrix Form
 From the figure,
 X  cos   sin    x 
   
X  x cos   y sin   Y   sin  y cos    y 
Y  x sin   y cos 
cos   sin  
T   
 sin  y cos  
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Revolute Joint Module 3 – Constraint Equations

Page 14
 There are three revolute joints in the yB

piston-crank assembly Body B
 Between the piston and connecting rod Y
 Between the connecting rod and
crankshaft Body A xB
yA B
 Between the crankshaft and crank
bearing xA
Joint
 The constraint equations for a A
revolute joint will be developed using
the two bodies shown in the figure.
 Body A and B have the same X
translational motion at the joint but
Two bodies connected at a common
can have relative rotation. point that allows relative rotational
motion.
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Page 15
 The position of Joint 1 on

Body A relative to the global Y Joint 1
coordinate system is given by yA

the equation Body A

r1 A
A A A 1
xA
R1  Rcg  r1 ĵ
iˆ
A
A
 The components of Rcg are
written with respect to the Ĵ A
Rcg
global coordinate system Iˆ X
base vectors and the  cg
A RA
r
components of 1 are written A
with respect to the body r1  x1Aiˆ  y1A ˆj
fixed coordinate system. A
Rcg  X cgA Iˆ  YcgA Jˆ
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Page 16
 The components of the body fixed

position vector must be Position Vector Equation
transformed to the global A A A
R1  Rcg  r1
coordinate system before the
components of the two vectors can
Component Form
be added.
 X 1A   X cgA  cos  A  sin  A   x1A 
 A    A   A  A 
 This is accomplished using the 
 1   cg  
Y Y  sin  A
cos    x1 
transformation matrix introduced
earlier.
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Page 17
 The coordinates of Joint 1 on  In a Revolute Joint the

Body A are coordinates of the joint
must be same for each
 X 1A   X cgA  cos  A  sin  A   x1A  body.
 A    A    
 1  
Y  Ycg 
  sin  A
cos  A   y1A   Thus,
 X 1A   X 1B 
 Similarly, the coordinates of  A B
 Y1   Y1 
Joint 1 on Body B are
or
 X   X  cos 
B B B
 sin  B
 x 
B
   
cg
 
1 1
  
Y 1
B
 Y 
  sin
B
cg B
cos  B B
 y 
1  X cgA  cos  A  sin  A   x1A 
 A    
 Ycg   sin  A cos  A   y1A 
General Form of the  X cgB  cos  B  sin  B   x1B  0
Constraint Equations for a  B  B  B 
 
 Ycg   sin  B
cos    y1  0
Planar Revolute Joint
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Page 18
 The general form of the

constraint equations for a
planar revolute joint is
 X cgA  cos  A  sin  A   x1A  Joint 1
 A   A  A 
 cg  
Y sin  A
cos    y1 
 X cgB  cos  B  sin  B   x1B  0 2nd Revolute Joint
 B  B  B 
 
 Ycg   sin  B
cos    y1  0
 The specific equations for the Joint 2

three revolute joints in the
piston-crank mechanism will
now be developed
Joint 3
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1st Revolute Joint Module 3 – Constraint Equations

Page 19
 The location of the joint Piston  Body B
relative to the c.g. is needed to

B 28 mm
define the parameters x1 & y1B
 For the piston,
y
x  28mm
B
1
x
y 0
B
1
C.G.
Joint 1
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Page 20
 The location of the joint

relative to the c.g. is needed to
C
define the parameters x1 & y1C
 From the picture, Connecting Rod  Body C
x1C  102.6mm 102.6

y1C  0
y
Joint 1
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Page 21
Using the geometry from the

piston and connecting rod, the
revolute joint constraint equation
becomes
x1B  28mm x1C  102.6mm

y1B  0 y1C  0
Joint 1
 X cgB  cos  B  sin  B   x1B  1st Revolute Joint Constraint Equations
 B    
 Ycg   sin  B cos  B   y1B 
X cgB  28 cos  B  X cgC  102.6 sin  C  0
 X cgC  cos  C  sin  C   x1C  0
 C  C  C 
  YcgB  28 sin  B  YcgC  102.6 cos  C  0
 Ycg   sin  C
cos    y1  0
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2nd Revolute Joint Module 3 – Constraint Equations

Page 22
General Form of Constraint
Equation
 X cgC  cos  C  sin  C   x2C  Body C
 C   C  C 
 Ycg   sin  C cos    y2  y
 X cgD  cos  D  sin  D   x2D  0 Joint 2
 D  D  D 
 
 Ycg   sin  D cos    y2  0 x
 The location of the joint

relative to the c.g. is needed
to define the parameters x2C
C 41.3 mm
& y2
 From the picture,
x  41.3
C
2
y2C  0
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Page 23
Equation
 X cgC  cos  C  sin  C   x2C 
 C   C  C 
 Ycg   sin  C cos    y2 
 X cgD  cos  D  sin  D   x2D  0
 D  D  D 
 
 Ycg   sin  D cos    y2  0 y
 The location of the joint x

relative to the c.g. is needed
to define the parameters x2D
D
y
& 2 Joint 2
 From the picture, 43 mm
x2D  43
y 0
D
2
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Page 24
Using the geometry from the

connecting rod and crank shaft,
the revolute joint constraint
equation becomes
x  41.3
C
2
x2D  43
y 0
C y2D  0
2 Joint 2
 X cgC  cos  C  sin  C   x2C 

 C   C  C  2nd Revolute Joint Constraint Equations
 Ycg   sin  C
cos    y2 
 X cgD  cos  D  sin  D   x2D  0 X cgC  41.3 cos  C  X cgD  43 sin  D  0
 D  D  D 
 
 Ycg   sin  D
cos    y2  0
YcgC  41.3 sin  C  YcgD  43 cos  D  0
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3rd Revolute Joint Module 3 – Constraint Equations

Page 25
Equation
 X cgD  cos  D  sin  D   x2D 
 D   D  D 
 Ycg   sin  D cos    y2 
 X cgE  cos  E  sin  E   x2E  0
 E  E  E 
 
 Ycg   sin  E cos    y2  0
Joint 3
 The c.g.’s of both the crank
and crank shaft lie at the
origin of the global
coordinate system. 3rd Revolute Joint Constraint Equations
 Therefore, the body fixed
 X cgD   X cgE  0
coordinates of the joint  D  E    
 Ycg   Ycg  0
relative to the c.g. are zero.
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Summary of Revolute Joint Equations Module 3 – Constraint Equations

Page 26
Body B Body C Body C
2nd Revolute Joint
Body D
Joint 2
Joint 1
X cgB  28 cos  B  X cgC  102.6 sin  C  0 X cgC  41.3 cos  C  X cgD  43 sin  D  0
YcgB  28 sin  B  YcgC  102.6 cos  C  0 YcgC  41.3 sin  C  YcgD  43 cos  D  0
Joint 3
Body D Body E
 X cgD   X cgE  0
 D  E    
 Ycg   Ycg  0
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Prismatic Joint Module 3 – Constraint Equations

Page 27
 In the planar system the cylindrical yA

joint between the cylinder liner Y Body B Common
Axis
and the piston acts like a prismatic
joint. Body A
yA xA
 A prismatic joint allows two bodies B
xA
to translate relative to each other
along a common axis. A
 The two bodies cannot rotate
independent of each other.
 The equations for a planar X
prismatic joint are based on the
Two bodies A & B that translate
geometry shown in the figure. relative to one another along a
common axis.
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Prismatic Joint Constraint Equations Module 3 – Constraint Equations

Page 28
 The points P and Q in Body A lie

on the common axis and are yA
Y Body B Common
connected by the vector PQ. Axis
S
 The points R and S in Body B lie R
Body A
on the common axis and are PQ  yA xA
connected by the vector RS. Q
xA B
 The vector PR also lies on the P
common axis and connects the A

points P and R.
 The three vectors must be
parallel. X
 Alternatively, vectors PR and RS Two bodies A & B that translate

must be perpendicular to PQ  . relative to one another along a
common axis.
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Page 29
 The vector PQ with components yA

written with respect to the Y Body B
body fixed coordinate system of
R S
Body A are Body A
 PQ  yA xA
A ˆ A ˆ
PQ  xPQ i  y PQ j Q
xA B
P
 The components of the vector A
PQ with respect to the global
coordinate system are
 X PQ
A
 cos  A  sin  A   xPQ 
A X
 A   A 
 YPQ   sin  A cos  A   y PQ  Two bodies A & B that translate
relative to one another along a
common axis.
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Page 30
 The vector RS with components

yA
written with respect to the Y Body B
body fixed coordinate system of
S
Body B are Body A
R
 B ˆ B ˆ PQ  yA xA
RS  xRS i  y RS j Q B
xA
P
 The components of the vector A
RS with respect to the global
coordinate system are
X
 X RS
B
 cos  B  sin    xRS
BB

 B  B  B 
 RS  
Y sin  B
cos    y RS  Two bodies A & B that translate
relative to one another along a
common axis.
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Page 31
 The third vector is directed

from point P to point R. yA
Y Body B
 Point P has the coordinates
R S
X  X
A A
 cos  A
 sin  A
  x A

Body A
   
p
 
P CG
  sin  cos  A   y 
A A A A
Y   Y
P CG p
PQ  yA xA
Q
xA B
 Point R has the coordinates
P
 X RB   X CG
B
 cos  B  sin  B   xRB  A
 B    B    
 YR   YCG   sin  cos  B   y RB 
B
 The vector has components

X
 X PR   X CG
B
 cos  B  sin  B   xRB 
    B    
 YPR   YCG   sin  cos  B   y RB 
B
 X CG
A
 cos  A  sin  A   xPA  relative to one another along a
 A   
 YCG   sin  cos  A   y PA 
A
common axis.
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Page 32
 The vector perpendicular to yA

PQ has components Y Body B
 X PQ S
 
 cos   sin  A  0  1  xPQ 
A A
A R
 A    A  Body A
 YPQ    sin  cos  A  1 0   y PQ 
A
PQ  yA xA
Q
xA B
 The dot product of two vectors P
that are perpendicular to each A
other is zero.
   X PR  X
PQ  PR  X PQ
A
 X A
PQ   0 First Constraint Eq.
 PR 
Y
  X  B
PQ  PR  X PQ
A

A
X PQ   0
RS
B Second Constraint Eq. relative to one another along a
Y  RS common axis.
© 2011 Autodesk
Education Community

Page 33
 Substituting the vector components from the previous slides into

the first constraint equation yields
   X PR 
PQ  PR  X PQ
A
 X A
PQ  0
 PR 
Y
0  1 cos   sin    X CG

A T
 cos  B  sin  B   xRB   X CG  cos  A  sin  A   xPA 
T A B A
x A
y A
1 0   A   B 
 
B  B   A 
 A   A 
0
  sin  cos   YCG   sin  B cos    y R  YCG   sin  A cos    y P 
PQ PQ A

 Substituting the vector components from the previous slides into

the second constraint equation yields
   X RS
B

PQ  PR  X PQ
A
 X A
PQ  B 0
 YRS 
cos  B 
T
0  1 cos  A  sin  B   xRS
T
 sin  A  B
x A
y A
1 0     B   B 
0
  sin  cos  A   sin  B cos    y RS 
PQ PQ A

© 2011 Autodesk
Education Community
Summary of Prismatic Constraint Equations Module 3 – Constraint Equations

Page 34
The two constraint equations for a planar prismatic joint are
1st Constraint Equation
  sin  A   xPA 
T
0  1 cos  A  X CG  cos   sin  B   xRB   X CG  cos  A
T
 sin  A  B B A

 B      0
A A
1 0    B  B   A   A   
A 
x y
  sin  cos  A  YCG   sin  cos    yR  YCG   sin  A cos    yP 
PQ PQ

A
 B

2nd Constraint Equation

cos  B 
T
0  1 cos  A  sin  B   xRS
T
 sin  A  B
x A
y A
1 0     B   B 
0
  sin  cos  A   sin  B cos    y RS 
PQ PQ A

The vector components at the beginning and end of each equation are based
on the body fixed coordinate systems and are constant. The only variables
are the generalized coordinates of Body A and B.
These equations are easily evaluated in a computer program.
© 2011 Autodesk
Education Community

Page 35
 The prismatic joint formed by

the cylinder liner and the y y
piston lies along the global X- x x
axis. P Q R S
 Point P is chosen to lie at the
c.g. of the cylinder liner.
 Point Q is chosen to lie 1 mm Vector Vector
to the right on the x-axis. components components
of PQ of RS
 Point R is chosen to lie at the A
xPQ 1 B
xRS 1
c.g. of the piston. A
y PQ 0 B
y RS 0
Point Coordinates
 Point S is chosen to lie 1 mm to
xPA  0 xR  0
B
the right on the x-axis. y PA  0 y R  0

B
© 2011 Autodesk
Education Community

Page 36
Substitution of the vector components and point coordinates into the

two prismatic joint equations yields
1st Constraint Equation

 X CG  sin  A  0
T
0  1 cos  A  cos  B  sin  B  0  X CG  cos  A
T
 sin  A  B A
1 0     B    
B    A 
 A   
0
1 0   sin  cos  A  YCG   sin  B cos   0 YCG   sin  A cos   0
A
which reduces to
 X CG 
T
0  1 cos  A   X CG
T
 sin  A  B A
1 0     B    A   0
  sin  cos  A  YCG  YCG 
A
1 0
2nd Constraint Equation
0  1 cos   sin   cos  B

A T
 sin  B  1
T A
1 0     B   
0
  sin  cos  A   sin  B cos   0
A
1 0
© 2011 Autodesk
Education Community
Motion Constraint Module 3 – Constraint Equations

Page 37
 One motion constraint is required

to make the mechanism stable.
Motion Constraint
 The rotation of the crankshaft
(Body D) will be given an angular  D  314  t  0
speed of 3,000 rpm.
 A 3,000 rpm engine speed is
equal to 314 rad/sec.
 Although all fifteen generalized
coordinates are a function of
time, this is the only constraint
equation that explicitly contains
time as a variable.
© 2011 Autodesk
Education Community
Summary of Constraint Equations Module 3 – Constraint Equations

Page 38
There are five planar bodies each having three DOF giving a total of fifteen
DOF. Fifteen unknowns requires fifteen equations.
Ground Constraint 1 Revolute Joint 1 Revolute Joint 3

1) X 156.8  0
A
7) X  41.3 cos   X  43 sin   0
C C D D 11) X cgD  X cgE  0
cg cg cg
2)Y  0 12)YcgD  YcgE  0

8)Y  41.3 sin   Y  43 cos   0
A C C D D
cg cg cg
3) cgA 0
Ground Constraint 2 Revolute Joint 2 Motion Constraint
4) X cgE  0 9) X cgB  28 cos  B  X cgC  102.6 sin  C  0 15) D  314  t  0
5)YcgE  0 10)YcgB  28 sin  B  YcgC  102.6 cos  C  0
6) cgE  0 Prismatic Joint
0  1 cos  A  sin    X CG
A T
  X CG 
T B A
13) 1 0    
A   B   A 
0
  sin  cos   YCG  YCG 
A
1 0
0  1 cos  A  sin   cos  B

A T
 sin  B  1
T
14) 1 0      B   
0
  sin  cos  A   sin  B cos   0
A
1 0
© 2011 Autodesk
Education Community
Summary of Constraint Equations Module 3 – Constraint Equations

Page 39
 Only one of the constraint equations is time dependent

(Motion Constraint).
 Most of the constraint equations are non-linear.
 All of the constraints are algebraic equations and none are
differential equations.
 Geometric quantities (dimensions and distances) contained
in the constraint equations can be found from information in
a 3D CAD model.
© 2011 Autodesk
Education Community
Module Summary Module 3 – Constraint Equations

Page 40
 The constraint equations for ground, revolute, and prismatic joints

have been developed for a planar mechanism.
 The constraint equation for a rotational motion constraint has been
developed for a planar mechanism.
 These equations were used to determine the fifteen equations
necessary for a piston-crank assembly taken from a Boxer engine
model.
 In some cases the constraint equations are very simple and in other
cases they are complex.
 Only the motion constraint is an explicit function of time.
 All of the constraint equations are algebraic.
 These equations will be applied in the next module: Module 4.
© 2011 Autodesk
Education Community

Dynamic Simulation: Constraint Equations

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Dynamic Simulation: Constraint Equations

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Dynamic Simulation:

 The objective of this module is to develop the equations for ground,

Boxer Style Engine Module 3 – Constraint Equations

 Boxer style engines have a

Cross Section View Module 3 – Constraint Equations

This module will use the piston-crank portion of this engine to

Planar System Module 3 – Constraint Equations

 The boxer engine rotating

Global Coordinate System Module 3 – Constraint Equations

Part ID’s Module 3 – Constraint Equations

The five components

Mobility Module 3 – Constraint Equations

 Gruebler’s equation can be used to establish the mobility of the planar

List of DOF’s Module 3 – Constraint Equations

must be developed that will YcgD

generalized coordinates to variable is associated Gravity X cgE

Ground Joints Module 3 – Constraint Equations

 The cylinder liners are

 The pistons move relative

Cylinder Liner Ground Equations Module 3 – Constraint Equations

The location of the center of

The ground constraint equations

Crank Bearing Ground Joint Module 3 – Constraint Equations

Virtual Crank Bearing

Summary of Ground Joint Equations Module 3 – Constraint Equations

Cylinder Liner Virtual Crank Bearing

 Each of these equations fix one DOF for the

 None of the equations are a function of time.

 None of the equations involve more than one part.

2D Coordinate Transformation Matrix Module 3 – Constraint Equations

body fixed coordinate system to x sin θ

Revolute Joint Module 3 – Constraint Equations

 There are three revolute joints in the yB

Revolute Joint Module 3 – Constraint Equations

 The position of Joint 1 on

coordinate system is given by yA

Revolute Joint Module 3 – Constraint Equations

 The components of the body fixed

Revolute Joint Module 3 – Constraint Equations

 The coordinates of Joint 1 on  In a Revolute Joint the

Revolute Joint Module 3 – Constraint Equations

 The general form of the

 The specific equations for the Joint 2

1st Revolute Joint Module 3 – Constraint Equations

 The location of the joint Piston  Body B

relative to the c.g. is needed to

1st Revolute Joint Module 3 – Constraint Equations

 The location of the joint

x1C  102.6mm 102.6

1st Revolute Joint Module 3 – Constraint Equations

Using the geometry from the

x1B  28mm x1C  102.6mm

2nd Revolute Joint Module 3 – Constraint Equations

 The location of the joint

2nd Revolute Joint Module 3 – Constraint Equations

 The location of the joint x

2nd Revolute Joint Module 3 – Constraint Equations

Using the geometry from the

 X cgC  cos  C  sin  C   x2C 

3rd Revolute Joint Module 3 – Constraint Equations

Summary of Revolute Joint Equations Module 3 – Constraint Equations

Body B Body C Body C

2nd Revolute Joint