equation of motion of rigid body pdf
Chapter 2 - View presentation slides online.
The Equations of Motion In order to find the equations of motion for two bodies moving under their mutual gravity we shall follow much the same procedure that we did for a central force. Using the method of convex integration we establish the existence of infinitely many weak solutions with a priori prescribed motion of rigid bodies. In this section, we'll show the basic structure for simulating the motion of a rigid body. concerned with the kinetics of rigid bodies, i.e., relations between the forces acting on a rigid body, the shape and mass of the body, and the motion produced. Motion of Rigid Body PHYSICS MODULE - 1 Motion, Force and Energy In the case of a rigid body, the sum of the internal forces is zero because they cancel each other in pairs. VB = 1.840 m s 60 AB = (2.26 rad s ) 5-35 Absolute and Relative Acceleration in . We consider in Figure 1 the classical rigid body example of a hardbound book (see the body frame in the left . Consequently, we can write the three equations of motion for the body as: Note that the MG moment equation may be replaced by a moment . Motion of Rigid Body PHYSICS MODULE - 1 Motion, Force and Energy In the case of a rigid body, the sum of the internal forces is zero because they cancel each other in pairs. Close suggestions Search Search This chapter shows us how to include rotation into the dynamics. The Euler-Lagrange equation is frequently used to develop the governing dynamic equilibrium expressions for rigid-body or lumped-mass systems. A general rigid body subjected to arbitrary forces in two dimensions is shown below. Rigid Body Dynamics November 15, 2012 1 Non-inertial frames of reference So far we have formulated classical mechanics in inertial frames of reference, i.e., those vector bases in which Newton's second law holds (we have also allowed general coordinates, in which the Euler-Lagrange equationshold). 21.2 Translational Equation of Motion We shall think about the system of particles as follows. The rotational motion of a rigid body is gov- erned by Euler's equations of motion which are, in general, nonlinear. Smooth surface-to-surface contact is . F x=ma xF y=ma yM (26.4.2) F = V / R . This portion of the course notes is geared towards a full implementation of rigid body motion. Many of the equations for the mechanics of rotating objects are similar to the motion equations for linear motion. Basically: The equilibrium equations for rigid bodies are a way to determine unknown forces and moments using known forces and moments, separating the motion in 2 (or 3) directions for translation and rotation. plane Mass center G has an . Small wheels have been attached to the ends of rod AB and roll freely along the surfaces shown. In contrast to the simple pendulum we studied in class, a compound pendulum can have an arbitrary . The Runge-Kutta method is used to integrate the resulting coupled pair of rst order differential equations. o The vectors wk and ak are the angular velocity and angular acceleration of the rigid body, respectively. Euler's Equations of Motion Apply the eigen-decomposition to the inertial tensor and obtain ,= 1, 2, 3 where are called principle moments of inertia, and the columns of are called principle axes. Approach: From Lecture 4, any two coordinate systems can be related through a sequence of three rotations. position, etc. Equations of motion of a free rigid body For the description of the rotation of a rigid body B, we consider two frames: a xed frame attached to the laboratory and a body frame attached to the rigid body itself and moving along time. Rotational motion is more complicated than linear motion, and only the motion of rigid bodies will be considered here. It is sometimes convenient to use the radius of gyration, k, dened by I Mk2 . and R are matrices.
2 Governing equations of rigid body rotations In gure1, one can see a rigid body, stationary reference frame (x 0;y;z0), body reference frame (x;y;z), applied force F~ a and position vector ~lshowing acting position of the force. (Rotation is not defined for particles.) AND v, a Thursday, April 11, 13 For a rigid body in total equilibrium, there is no net torque about any point. In other words, the rolling motion of a rigid body can be described as a translation of the center of mass (with kinetic energy Kcm) plus a rotation about the center of EQUATIONS OF MOTION (continued) Fn = m (aG) n = m rG 2 Ft = m (aG) t = m rG MO = IO From the parallel axis theorem, IO = IG + m(rG)2, therefore the term in parentheses represents IO. But it does give us a hint about how we should proceed.
Separating translation and rotation, however, causes a huge complexity in deriving the equations of motion of articulated rigid body systems such as robots. In section 2, we'll dene the terms, concepts, and equations we need to implement a rigid body simulator. Describing the motion of such a system without some simpli cations is clearly impos- sible. order to determine the attitude of the body as a function of time, a second set of nonlinear differ- entia1 . In the light of this, we may write Eqn. In Section1, an elegant single equation of motion of a rigid body moving in 3D . Our approach will be to consider rigid bodies as made of large numbers of particles and to use the results of Chapter 14 for the motion of systems of particles. The work of a force Fapplied at a point Ais U 1 2 = (Fcos ) ds s 1 s 2 confine its motion to the vertical direction only. body while the body executes planar motion. In this chapter, unless otherwise stated, the following notation conventions will be used: 1. If velocity and position were desired information in a problem, we would then use inte- 2. A) the center of rotation B) the center of mass C) any arbitrary point D) All of the above 2. 4. Results were applied to TVA unit #3, a 1200 A. Derivation of Equations of Motion (EOMs) Background In our earlier work, we have used the Newton-Euler Equations: X F~ = m~a G X M~ A = I A~ to study the relationship between accelerations and forces acting on systems of particles and rigid bodies. (7.9) as M a . (7.9) as M a . To make a donation or to view additional materials from hundreds of MIT 20 lb 1.13s = = n W s 93. ME 231: Dynamics. 3D Rigid Body Dynamics: Euler's Equations We now turn to the task of deriving the general equations of motion for a three-dimensional rigid body. if not, need more eqns: kinematics equations: connection between Fx = max Fy = may Mz = I , ! These two equations can be combined to give, HG= Xn i=1 (r imi( r i)) = Xn i=1 mir i 2 . These are properties of the motion of the rigid body and are the same regardless of which points A and B are used in the above equation. As derived previously, the equations of motion are P= X i miri, P = F(ext) (13.1) L= X i miriri, L = N(ext). Here is how the Unity docs describe MovePosition: If Rigidbody interpolation is enabled on the Rigidbody, calling Rigidbody RBC being physics-based also detects OnCollisionEnter()/Exit() events one frame after collision has actually begun or ended which is a complete bummer and limits possibilities for a complex controller Can you give a edu is a platform for academics to share research papers . Given a rigid body, we will determine some key equations of the motion, particularly those revolving around rotation. But there is one new term, the work of a couple. Derive equation(s) of motion for the system using - x 1 and x 2 as independent coordinates - y 1 and y 2 as independent . However, for a dynamic system that consists of rigid bodies, there are innitely many points contained in each rigid body making the above formulation intractable. Many objects of interest, however, are very well approximated by the assumption that the distances between the atoms in the body are xed1, j~r ~r j=c Motion of a rigid body in plane motion is completely defined by the resultant and moment resultant about G of the external forces. the rst order differential equation relating orientation represented as quaternion to the angular velocity. Here is a quick outline of how we analyze motion of rigid bodies. In the following two sections, we view a rigid body as a continuum and derive compact equations of motions in both Cartesian coordinates and generalized coordinates. body. rotation of the body gives rise to the three constituents of the angular velocity: = en+ez+e(3), (15) where enis the unit vector along the line of nodes on.in addition to the auxiliary node vector enwe will need the "antinode" vector eathat lies in the plane spanned by e(1)and e(2)and is perpendicular to both enand e(3).using en= Euler parameters. Whenever an index appears twice (an only twice), then a summation over this index is implied. A rigid body is an object with a mass that holds a rigid shape, such as a phonograph turntable, in contrast to the sun, which is a ball of gas. TU11 + -2 = T2 Work terms (U 1-2): The same ones for particles (force, weight, spring) also apply to rigid bodies. Involves both linear and angular disp, vel, and accln. In many cases, however, the rectangular coordinates are constrained, necessitating either the use of Lagrange multipliers or the introduction of generalized coordinates that are consistent with the kinematic constraints. Your support will help MIT OpenCourseWare continue to offer high quality educational resources for free. Plane Kinetics of Rigid Bodies Work and Energy Example Solution At the third state (max deflection of spring), all parts of the system are momentarily at rest. In particular, the dynamics is completely time-reversible at the motion of rigid bodies although the solutions comply with the standard entropy . Knowing that wheel A moves to the left with a constant velocity of 1.5 m/s, determine (a) the angular velocity of the rod, (b) the velocity of end B of the rod. The full set of scalar equations describing the motion of the body are: Where: m is the mass of the body F x is the sum of the forces in the x . So far, we have only considered translational motion. For example, x i Having now mastered the technique of Lagrangians, this section will be one big . 1. Application: Calculate the reaction forces from the combined weight of an object. This . The principle of work and energy for a rigid body is expressed i n the form T 1+ U 1 2 = T 2 where T 1and T 2represent the initial and final values of the kinetic energy of the rigid body and U 1 2the work of the external forces acting on the rigid body.
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We define the velocity of (or of ) .
Chapter 2 - View presentation slides online.
The Equations of Motion In order to find the equations of motion for two bodies moving under their mutual gravity we shall follow much the same procedure that we did for a central force. Using the method of convex integration we establish the existence of infinitely many weak solutions with a priori prescribed motion of rigid bodies. In this section, we'll show the basic structure for simulating the motion of a rigid body. concerned with the kinetics of rigid bodies, i.e., relations between the forces acting on a rigid body, the shape and mass of the body, and the motion produced. Motion of Rigid Body PHYSICS MODULE - 1 Motion, Force and Energy In the case of a rigid body, the sum of the internal forces is zero because they cancel each other in pairs. VB = 1.840 m s 60 AB = (2.26 rad s ) 5-35 Absolute and Relative Acceleration in . We consider in Figure 1 the classical rigid body example of a hardbound book (see the body frame in the left . Consequently, we can write the three equations of motion for the body as: Note that the MG moment equation may be replaced by a moment . Motion of Rigid Body PHYSICS MODULE - 1 Motion, Force and Energy In the case of a rigid body, the sum of the internal forces is zero because they cancel each other in pairs. Close suggestions Search Search This chapter shows us how to include rotation into the dynamics. The Euler-Lagrange equation is frequently used to develop the governing dynamic equilibrium expressions for rigid-body or lumped-mass systems. A general rigid body subjected to arbitrary forces in two dimensions is shown below. Rigid Body Dynamics November 15, 2012 1 Non-inertial frames of reference So far we have formulated classical mechanics in inertial frames of reference, i.e., those vector bases in which Newton's second law holds (we have also allowed general coordinates, in which the Euler-Lagrange equationshold). 21.2 Translational Equation of Motion We shall think about the system of particles as follows. The rotational motion of a rigid body is gov- erned by Euler's equations of motion which are, in general, nonlinear. Smooth surface-to-surface contact is . F x=ma xF y=ma yM (26.4.2) F = V / R . This portion of the course notes is geared towards a full implementation of rigid body motion. Many of the equations for the mechanics of rotating objects are similar to the motion equations for linear motion. Basically: The equilibrium equations for rigid bodies are a way to determine unknown forces and moments using known forces and moments, separating the motion in 2 (or 3) directions for translation and rotation. plane Mass center G has an . Small wheels have been attached to the ends of rod AB and roll freely along the surfaces shown. In contrast to the simple pendulum we studied in class, a compound pendulum can have an arbitrary . The Runge-Kutta method is used to integrate the resulting coupled pair of rst order differential equations. o The vectors wk and ak are the angular velocity and angular acceleration of the rigid body, respectively. Euler's Equations of Motion Apply the eigen-decomposition to the inertial tensor and obtain ,= 1, 2, 3 where are called principle moments of inertia, and the columns of are called principle axes. Approach: From Lecture 4, any two coordinate systems can be related through a sequence of three rotations. position, etc. Equations of motion of a free rigid body For the description of the rotation of a rigid body B, we consider two frames: a xed frame attached to the laboratory and a body frame attached to the rigid body itself and moving along time. Rotational motion is more complicated than linear motion, and only the motion of rigid bodies will be considered here. It is sometimes convenient to use the radius of gyration, k, dened by I Mk2 . and R are matrices.
2 Governing equations of rigid body rotations In gure1, one can see a rigid body, stationary reference frame (x 0;y;z0), body reference frame (x;y;z), applied force F~ a and position vector ~lshowing acting position of the force. (Rotation is not defined for particles.) AND v, a Thursday, April 11, 13 For a rigid body in total equilibrium, there is no net torque about any point. In other words, the rolling motion of a rigid body can be described as a translation of the center of mass (with kinetic energy Kcm) plus a rotation about the center of EQUATIONS OF MOTION (continued) Fn = m (aG) n = m rG 2 Ft = m (aG) t = m rG MO = IO From the parallel axis theorem, IO = IG + m(rG)2, therefore the term in parentheses represents IO. But it does give us a hint about how we should proceed.
Separating translation and rotation, however, causes a huge complexity in deriving the equations of motion of articulated rigid body systems such as robots. In section 2, we'll dene the terms, concepts, and equations we need to implement a rigid body simulator. Describing the motion of such a system without some simpli cations is clearly impos- sible. order to determine the attitude of the body as a function of time, a second set of nonlinear differ- entia1 . In the light of this, we may write Eqn. In Section1, an elegant single equation of motion of a rigid body moving in 3D . Our approach will be to consider rigid bodies as made of large numbers of particles and to use the results of Chapter 14 for the motion of systems of particles. The work of a force Fapplied at a point Ais U 1 2 = (Fcos ) ds s 1 s 2 confine its motion to the vertical direction only. body while the body executes planar motion. In this chapter, unless otherwise stated, the following notation conventions will be used: 1. If velocity and position were desired information in a problem, we would then use inte- 2. A) the center of rotation B) the center of mass C) any arbitrary point D) All of the above 2. 4. Results were applied to TVA unit #3, a 1200 A. Derivation of Equations of Motion (EOMs) Background In our earlier work, we have used the Newton-Euler Equations: X F~ = m~a G X M~ A = I A~ to study the relationship between accelerations and forces acting on systems of particles and rigid bodies. (7.9) as M a . (7.9) as M a . To make a donation or to view additional materials from hundreds of MIT 20 lb 1.13s = = n W s 93. ME 231: Dynamics. 3D Rigid Body Dynamics: Euler's Equations We now turn to the task of deriving the general equations of motion for a three-dimensional rigid body. if not, need more eqns: kinematics equations: connection between Fx = max Fy = may Mz = I , ! These two equations can be combined to give, HG= Xn i=1 (r imi( r i)) = Xn i=1 mir i 2 . These are properties of the motion of the rigid body and are the same regardless of which points A and B are used in the above equation. As derived previously, the equations of motion are P= X i miri, P = F(ext) (13.1) L= X i miriri, L = N(ext). Here is how the Unity docs describe MovePosition: If Rigidbody interpolation is enabled on the Rigidbody, calling Rigidbody RBC being physics-based also detects OnCollisionEnter()/Exit() events one frame after collision has actually begun or ended which is a complete bummer and limits possibilities for a complex controller Can you give a edu is a platform for academics to share research papers . Given a rigid body, we will determine some key equations of the motion, particularly those revolving around rotation. But there is one new term, the work of a couple. Derive equation(s) of motion for the system using - x 1 and x 2 as independent coordinates - y 1 and y 2 as independent . However, for a dynamic system that consists of rigid bodies, there are innitely many points contained in each rigid body making the above formulation intractable. Many objects of interest, however, are very well approximated by the assumption that the distances between the atoms in the body are xed1, j~r ~r j=c Motion of a rigid body in plane motion is completely defined by the resultant and moment resultant about G of the external forces. the rst order differential equation relating orientation represented as quaternion to the angular velocity. Here is a quick outline of how we analyze motion of rigid bodies. In the following two sections, we view a rigid body as a continuum and derive compact equations of motions in both Cartesian coordinates and generalized coordinates. body. rotation of the body gives rise to the three constituents of the angular velocity: = en+ez+e(3), (15) where enis the unit vector along the line of nodes on.in addition to the auxiliary node vector enwe will need the "antinode" vector eathat lies in the plane spanned by e(1)and e(2)and is perpendicular to both enand e(3).using en= Euler parameters. Whenever an index appears twice (an only twice), then a summation over this index is implied. A rigid body is an object with a mass that holds a rigid shape, such as a phonograph turntable, in contrast to the sun, which is a ball of gas. TU11 + -2 = T2 Work terms (U 1-2): The same ones for particles (force, weight, spring) also apply to rigid bodies. Involves both linear and angular disp, vel, and accln. In many cases, however, the rectangular coordinates are constrained, necessitating either the use of Lagrange multipliers or the introduction of generalized coordinates that are consistent with the kinematic constraints. Your support will help MIT OpenCourseWare continue to offer high quality educational resources for free. Plane Kinetics of Rigid Bodies Work and Energy Example Solution At the third state (max deflection of spring), all parts of the system are momentarily at rest. In particular, the dynamics is completely time-reversible at the motion of rigid bodies although the solutions comply with the standard entropy . Knowing that wheel A moves to the left with a constant velocity of 1.5 m/s, determine (a) the angular velocity of the rod, (b) the velocity of end B of the rod. The full set of scalar equations describing the motion of the body are: Where: m is the mass of the body F x is the sum of the forces in the x . So far, we have only considered translational motion. For example, x i Having now mastered the technique of Lagrangians, this section will be one big . 1. Application: Calculate the reaction forces from the combined weight of an object. This . The principle of work and energy for a rigid body is expressed i n the form T 1+ U 1 2 = T 2 where T 1and T 2represent the initial and final values of the kinetic energy of the rigid body and U 1 2the work of the external forces acting on the rigid body.
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