Mechanical Systems- Part II

Chapter 3
Objectives
In this unit, you will learn

lumped inertia and stiffness of flexible/compliant mechanical systems

calculation of natural frequencies for single DOF compliant mechanisms

modeling of multiple DOF mechanical systems, natural frequencies and mode
shapes

analysis of free and forced vibration of multiple DOF mechanical systems

employing MATLAB and Simulink in solving models of multiple DOF mechanical
systems

Lumped Inertia and Stiffness
BEAMS in bending
1
3 e
J J =
BAR in torsion
t
e
GI
k
l
=
33
140
e
m m =
13
35
e
m m =
Fixed-free bar See Tables 3.1 and 3.2 in the text
Fixed-guided beam
3
12
e
EI
k
l
=
Lumped Stiffness of Compliant Elements
( )
3
3 3
12
3
12
2
2
y
s
y y
l
EI
k
l
EI EI
k
l
l
=
= =
,
1 2 1
e s s l
k k k
= +
, ,
3
12
2
5
y
e e p e s
EI
k k k
l
= = =
Example 3.4
Problem 3.4
4
2
y z
k k
yields
w h
=
=
Microbridge (Problem 3.9)
Multiple DOF Mechanical Systems
# DOF = # apparent DOF # constraints
# apparent DOF = 5
|,u,x,y,z
# constraints = 3
# DOF = 5-3 =2
Single DOF
Two DOF
7
In a conservative system, the total energy is constant.
The kinetic energy T is stored in the mass by virtue of its
velocity, whereas the potential energy U is stored in the form
of strain energy in elastic deformation or by a spring or work
done in a force field such as gravity. The total energy being
constant, its rate of change is zero.
T + U = constant T
max
= U
max
d/dt( T + U ) = 0
Energy Method
Multiple DOF Conservative Mechanical
Systems Modeling
Energy Method
Multiple DOF Conservative Mechanical
Systems Modeling
Problem 3.12
2-DOF, 2 coupled equations
Multiple DOF Mechanical Systems:
Natural frequencies and mode shapes
Problem 3.14
Let
Determinant =0 yields two natural frequencies (2-DOF)
2
2
2
0
2 2 5
m k k
k m k
+
=
+
Mode shapes
{ } ( ) { } ( )
1 2
1 1 2 2

sin sin

n n
n n
z
A V t B V t
l

= + + +
`
)
Solution
1
2
2
1
1 2
1
2
2
2 2
2
2 5 2 8
2 41 3
2 5 2 8
2 41 3
n
n
n
n
n
n
m k Z k
r
l m k k
m k Z k
r
l m k k
e=e
e=e
e +
= = = =

u e + +

e +

= = = =

u e +

{ } { }
1 2

8 8
;
41 3 41 3
1 1
n n
V V

= =
+
` `

) )
Eigen values and eigen vectors using
MATLAB
| |{ } | |{ } { }
0 M K + =
M- mass matrix
K- stiffness matrix
D- dynamic matrix
| | | | | |
2
1

D M K

=
=
{ } { } ( )
sin t =
| |{ } | |{ } { }
2
0 M K + =
| | | | ( ){ } { }
0 D I =
| | | |
0 2
;
0 2 2 5
m k k
M K
m k k

( (
= =
( (

>> syms k m omsq
>> X=[k-m*omsq, -2*k; -2*k, 5*k-2*m*omsq]
>> solve(det(X), omsq)
Let m=0.6 kg and k =110 N/m.
>> m=0.6;
>> k=110;
>> M=[m,0;0,2*m];
>> K=[k,-2*k; -2*k, 5*k];
>> d=inv(M)*K;
>> [V,D]=eig(d)
d =
183.3333 -366.6667
-183.3333 458.3333
ans =
(7*k + 41^(1/2)*k)/(4*m)
(7*k - 41^(1/2)*k)/(4*m)
V =
-0.9202 0.6480
-0.3914 -0.7616
D =
27.3568 0
0 614.3099
Double Pendulum EOMs (Problem 3.17)
For small oscillations
Applying Newtons Second law
Coupled EOMs
Multiple DOF mechanical systems: forced
response by Simulink (Problem 3.20)
Review Example 3.10.
Mathematical Model
Based on values given, number crunching leads us to
Step 3.33X10
6

Step1 -2.52X10
6
Simulink (Problem 3.20 continued)