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    c01 Solution

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    BlackyPBoat
    This document provides information for a homework assignment on a 4-bar linkage web cutter mechanism. It includes: 1) Estimates of generalized coordinates for local frames attached to each link of the mechanism. 2) A table of constant locations of specific points in each local body-fixed frame. 3) Instructions to symbolically write the constraint vector for the mechanism, with the driver constraint specifying constant angular velocity of link 2. 4) Computes residuals of the constraint vector and determinant of the Jacobian matrix using values from parts 1) and 2). 5) Instructions to symbolically write the Jacobian matrix and evaluate it numerically, comparing to the symbolic result. 6) Replaces the driver

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    © All Rights Reserved
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    c01 Solution

    Uploaded by

    BlackyPBoat
    141 views8 pages
    This document provides information for a homework assignment on a 4-bar linkage web cutter mechanism. It includes: 1) Estimates of generalized coordinates for local frames attached to each link of the mechanism. 2) A table of constant locations of specific points in each local body-fixed frame. 3) Instructions to symbolically write the constraint vector for the mechanism, with the driver constraint specifying constant angular velocity of link 2. 4) Computes residuals of the constraint vector and determinant of the Jacobian matrix using values from parts 1) and 2). 5) Instructions to symbolically write the Jacobian matrix and evaluate it numerically, comparing to the symbolic result. 6) Replaces the driver

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    This document provides information for a homework assignment on a 4-bar linkage web cutter mechanism. It includes: 1) Estimates of generalized coordinates for local frames attached to each link of the mechanism. 2) A table of constant locations of specific points in each local body-fixed frame. 3) Instructions to symbolically write the constraint vector for the mechanism, with the driver constraint specifying constant angular velocity of link 2. 4) Computes residuals of the constraint vector and determinant of the Jacobian matrix using values from parts 1) and 2). 5) Instructions to symbolically write the Jacobian matrix and evaluate it numerically, comparing to the symbolic result. 6) Replaces the driver

    Copyright:

    © All Rights Reserved
    Download as PDF, TXT or read online from Scribd
    Download as pdf or txt
    141 views8 pages

    c01 Solution

    Uploaded by

    BlackyPBoat
    This document provides information for a homework assignment on a 4-bar linkage web cutter mechanism. It includes: 1) Estimates of generalized coordinates for local frames attached to each link of the mechanism. 2) A table of constant locations of specific points in each local body-fixed frame. 3) Instructions to symbolically write the constraint vector for the mechanism, with the driver constraint specifying constant angular velocity of link 2. 4) Computes residuals of the constraint vector and determinant of the Jacobian matrix using values from parts 1) and 2). 5) Instructions to symbolically write the Jacobian matrix and evaluate it numerically, comparing to the symbolic result. 6) Replaces the driver

    Copyright:

    © All Rights Reserved
    Download as PDF, TXT or read online from Scribd
    Download as pdf or txt
    of 8

    ME 581 - Spring 2014 C01

    Name ________________________

    1) Estimate generalized coordinates q x 2 y 2 2 x 3 y 3 3 x 4 y 4


    coordinate frames attached to the web cutter shown below. Use units of cm.
    Link
    Origin {ri}
    Angle i

    { 0, 0 }

    0 ,0
    30 deg

    0 deg

    4 for local
    T

    4
    T

    }
    3.5 , 2
    90 deg

    3.5 , 16.23 }
    -60 deg

    2) Complete the table of constant local body-fixed locations of specific points. Use units of cm.
    s 3 '
    s1 '
    s 2 '
    s 4 '
    A

    0,0

    0, 0

    4, 0

    C
    D

    { 13.21 , -2.03 }

    T
    T

    0 ,0
    { 14.23 , 0

    0,0
    { 20.32 , 0

    { 16.26 , -12.20 }

    { 7.11 , 10.16 }

    3) Symbolically write a constraint vector for this mechanism. The driver constraint should
    start 2 at 30 degrees and rotate at constant 60 rpm CCW for web motion from right to left.
    4) Compute residuals of using values from parts 1) and 2) above.
    0.6624 cm
    maximum abs _________________________________

    5) Symbolically write the Jacobian matrix q .


    6) Evaluate the Jacobian from part 5) using values from parts 1) and 2) above.

    -144.5768 cm2
    det q symbolic _________________________________

    7) Numerically estimate the Jacobian matix q using test_jac.m and compare to part 6).

    -144.5756 cm2
    det q numerical _________________________________
    8) Replace the absolute angle driving constraint for 2 with a relative position driving constraint
    between y3P and y4Q that would cut the web. Reevaluate the last row of the constraint vector and
    the Jacobian both symbolically and numerically. Using values from parts 1) and 2) above,
    compute residuals for your new driving constraint and the determinant of the Jacobian.
    3.1074 cm
    maximum abs _______________________

    382.6448
    det q _______________________

    ME 581 - Spring 2014 C01

    Name ________________________

    P3
    C3

    12.20 cm

    2.03 cm

    y4

    C4
    Q

    Q4
    x4

    7.11 cm
    10.16 cm

    BC =
    14.23 cm

    x3
    y3
    CD =
    20.32 cm

    AB =
    4.00 cm

    B3

    x1

    D
    13.21 cm

    x2
    B2

    y1
    B

    2.03 cm

    y2 2

    A1

    A2
    D4
    D1

    ME 581 - Spring 2014 C01

    Name ________________________

    % test_jac.m - evaluate Jacobian by numerical partial derivatives


    %
    used for ME 581 web cutter
    % HJSIII, 08.04.02
    % hold estimates for generalized coordinates
    nq = length(q);
    qhold = q;
    % evaluate constraints
    wc_phi
    % hold constraints
    phold = PHI;
    % perturb one coordinate at a time
    for iq = 1:nq,
    q = qhold;
    q(iq) = q(iq) + 0.01;
    % change in constraints caused by coordinate perturbation is
    % approximately equal to partial derivative
    wc_phi
    jtest(:,iq) = ( PHI - phold ) / 0.01;
    end
    % reset coordinates and constraints
    q = qhold;
    wc_phi

    ME 581 - Spring 2014 C01

    Name ________________________

    link 2 angular driver

    REV _ A


    REV _ B

    KINEMATIC REV _ C
    DRIVER

    REV _ D
    DRIVER 2

    I 2

    I 2

    0 2 x 2

    0
    2x 2

    01x 2

    r2 A r1 A
    r3 B r2 B
    r4 C r3 C
    r4 D r1 D
    2 _ START

    2 t

    B 2 s 2 ' A

    0 2 x 2

    0 2 x1

    0 2 x 2

    B 2 s 2 ' B

    I 2

    B3 s 3 ' B

    0 2 x 2

    0 2 x1

    I 2

    B 3 s 3 ' C

    I 2

    0 2 x1

    0 2 x 2

    0 2 x1

    I 2

    01x 2

    01x 2

    0 2 x1

    0 2 x1

    C
    B 4 s 4 '

    D
    B 4 s 4 '

    ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
    driver using cutter points P and Q

    row 9 sec ond row of r3 P r4 Q 0

    row 9
    q

    sec ond row of 0 2 x 2

    0 2 x1

    I 2

    B3 s 3 ' P

    I 2

    B 4 s 4 ' Q

    ME 581 - Spring 2014 C01

    Name ________________________

    >> wc_main_c01
    Parts 4 and 6 ++++++++++++++++++++++++++++++++++++++++
    PHI =
    0
    0
    0.0359
    0.0000
    -0.0000
    0
    0.4500
    0.6624
    0
    JAC =
    1.0000
    0
    -1.0000
    0
    0
    0
    0
    0
    0

    0
    1.0000
    0
    -1.0000
    0
    0
    0
    0
    0

    0
    0
    2.0000
    -3.4641
    0
    0
    0
    0
    1.0000

    0
    0
    1.0000
    0
    -1.0000
    0
    0
    0
    0

    0
    0
    0
    1.0000
    0
    -1.0000
    0
    0
    0

    0
    0
    0
    0
    14.2300
    -0.0000
    0
    0
    0

    0
    0
    0
    0
    1.0000
    0
    1.0000
    0
    0

    0
    0
    0
    0
    0
    1.0000
    0
    1.0000
    0

    0
    0
    0
    0
    0
    0
    17.5976
    10.1600
    0

    0
    0
    0
    0
    14.2298
    0.0711
    0
    0
    0

    0
    0
    0
    0
    1.0000
    0
    1.0000
    0
    0

    0
    0
    0
    0
    0
    1.0000
    0
    1.0000
    0

    0
    0
    0
    0
    0
    0
    17.5465
    10.2478
    0

    0
    0
    0
    0
    14.2300
    -0.0000
    0
    0
    12.2000

    0
    0
    0
    0
    1.0000
    0
    1.0000
    0
    0

    0
    0
    0
    0
    0
    1.0000
    0
    1.0000
    -1.0000

    0
    0
    0
    0
    0
    0
    17.5976
    10.1600
    -12.3538

    detJAC =
    -144.5768
    Parts 7 ++++++++++++++++++++++++++++++++++++++++
    jtest =
    1.0000
    0
    -1.0000
    0
    0
    0
    0
    0
    0

    0
    1.0000
    0
    -1.0000
    0
    0
    0
    0
    0

    0
    0
    2.0173
    -3.4540
    0
    0
    0
    0
    1.0000

    0
    0
    1.0000
    0
    -1.0000
    0
    0
    0
    0

    0
    0
    0
    1.0000
    0
    -1.0000
    0
    0
    0

    det_jtest =
    -144.5756
    Part 8 ++++++++++++++++++++++++++++++++++++++++
    PHI =
    0
    0
    0.0359
    0.0000
    -0.0000
    0
    0.4500
    0.6624
    3.1074
    JAC =
    1.0000
    0
    -1.0000
    0
    0
    0
    0
    0
    0
    detJAC =
    382.6448

    0
    1.0000
    0
    -1.0000
    0
    0
    0
    0
    0

    0
    0
    2.0000
    -3.4641
    0
    0
    0
    0
    0

    0
    0
    1.0000
    0
    -1.0000
    0
    0
    0
    0

    0
    0
    0
    1.0000
    0
    -1.0000
    0
    0
    1.0000

    ME 581 - Spring 2014 C01

    Name ________________________

    % wc_main_c01.m - web cutter four-bar for ME 581


    %
    main for Computer 1
    % HJSIII, 14.02.12
    clear
    % initialize
    wc_ini_c01;
    % evaluate constraints and Jacobian
    wc_phi;
    % parts 4 and 6 - residuals and Jacobian
    disp( 'Parts 4 and 6 ++++++++++++++++++++++++++++++++++++++++' )
    PHI
    JAC
    detJAC = det( JAC )
    % part 7 - numerical Jacobian
    disp( 'Part 7 ++++++++++++++++++++++++++++++++++++++++' )
    test_jac
    jtest
    det_jtest = det( jtest )
    % part 8 - cutter = r3P(2) - r4Q(2);
    disp( 'Part 8 ++++++++++++++++++++++++++++++++++++++++' )
    PHI(9) = cutter;
    Jlink3 =
    Jlink4 =
    JAC(9,:)
    PHI
    JAC
    detJAC =

    [ eye(2)
    B3*s3pP ];
    [ -eye(2) -B4*s4pQ ];
    = [ 0 0 0 Jlink3(2,:)
    det(JAC)

    Jlink4(2,:) ];

    ME 581 - Spring 2014 C01


    % wc_ini_c01.m - web cutter four-bar for ME 581
    %
    initialize constants and assembly guesses
    % HJSIII, 14.02.12
    % general constants
    d2r = pi / 180;
    R = [ 0 -1 ; 1 0 ];
    % mechanism constants
    len2 = 4;
    len3 = 14.23;
    len4 = 20.32;
    s2pA = [ 0 0 ]';
    s2pB = [ len2 0 ]';
    s3pB = [ 0 0 ]';
    s3pC = [ len3 0 ]';
    s3pP = [ 16.26 -12.20 ]';
    s4pC = [ 0 0 ]';
    s4pD = [ len4 0 ]';
    s4pQ = [ 7.11 10.16 ]';
    r1A = [ 0
    0 ]';
    r1D = [ 13.21 -2.03 ]';
    % initial guesses
    phi2 = 30 * d2r;
    phi3 = 90 * d2r;
    phi4 = -60 * d2r;
    q(1,1) = 0;
    q(2,1) = 0;
    q(3,1) = phi2;
    q(4,1) = 3.5;
    q(5,1) = 2;
    q(6,1) = phi3;
    q(7,1) = 3.5;
    q(8,1) = 16.23;
    q(9,1) = phi4;
    % driver for crank - phi2 = phi2_0 + w2*t
    phi2_0 = 30 * d2r;
    w2 = +60 * 2 * pi / 60;
    % 60 rpm CCW, convert to rad/sec
    t = 0;

    Name ________________________

    ME 581 - Spring 2014 C01

    Name ________________________

    % wc_phi_c01.m - web cutter four-bar for ME 581


    %
    evaluate constraints and Jacobian for crank driving constraint
    % HJSIII, 14.02.12
    % global location of local frames and rotation matrices
    r2 = q(1:2);
    r3 = q(4:5);
    r4 = q(7:8);
    phi2 = q(3);
    phi3 = q(6);
    phi4 = q(9);
    A2 = [ cos(phi2) -sin(phi2); sin(phi2) cos(phi2) ];
    A3 = [ cos(phi3) -sin(phi3); sin(phi3) cos(phi3) ];
    A4 = [ cos(phi4) -sin(phi4); sin(phi4) cos(phi4) ];
    B2 = R * A2;
    B3 = R * A3;
    B4 = R * A4;
    % global
    r2A = r2
    r2B = r2
    r3B = r3
    r3C = r3
    r4C = r4
    r4D = r4
    r3P = r3
    r4Q = r4

    locations of points
    + A2*s2pA;
    + A2*s2pB;
    + A3*s3pB;
    + A3*s3pC;
    + A4*s4pC;
    + A4*s4pD;
    + A3*s3pP;
    + A4*s4pQ;

    % revolute
    PHI(1:2,1)
    PHI(3:4,1)
    PHI(5:6,1)
    PHI(7:8,1)

    constraints
    = r2A - r1A;
    = r3B - r2B;
    = r4C - r3C;
    = r4D - r1D;

    % crank driver constraint


    PHI(9,1) = phi2 - phi2_0 - w2*t;
    % Jacobian by rows
    JAC = zeros(9,9);
    JAC(1:2,1:3) = [ eye(2)

    B2*s2pA ];

    JAC(3:4,1:3) = [ -eye(2)
    JAC(3:4,4:6) = [ eye(2)

    -B2*s2pB ];
    B3*s3pB ];

    JAC(5:6,4:6) = [ -eye(2)
    JAC(5:6,7:9) = [ eye(2)

    -B3*s3pC ];
    B4*s4pC ];

    JAC(7:8,7:9) = [

    eye(2)

    B4*s4pD ];

    % driver constraint in Jacobian


    JAC(9,3) = 1;
    % current results
    current_crank = phi2 / d2r;
    cutter = r3P(2) - r4Q(2);

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