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    Static Torque PDF

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    lylyho91
    This document discusses torques and moments of force. It begins by defining torque and moment arm, and describes torque as the vector cross product of moment arm and force. It then discusses levers and classes of levers, mechanical advantage, and how levers can trade force for distance. Examples are given for calculating torque using the mathematical definition and right hand rule. The document concludes by discussing static equilibrium, center of mass, and estimating center of mass location for body segments.

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    © All Rights Reserved
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    Static Torque PDF

    Uploaded by

    lylyho91
    173 views43 pages
    This document discusses torques and moments of force. It begins by defining torque and moment arm, and describes torque as the vector cross product of moment arm and force. It then discusses levers and classes of levers, mechanical advantage, and how levers can trade force for distance. Examples are given for calculating torque using the mathematical definition and right hand rule. The document concludes by discussing static equilibrium, center of mass, and estimating center of mass location for body segments.

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    This document discusses torques and moments of force. It begins by defining torque and moment arm, and describes torque as the vector cross product of moment arm and force. It then discusses levers and classes of levers, mechanical advantage, and how levers can trade force for distance. Examples are given for calculating torque using the mathematical definition and right hand rule. The document concludes by discussing static equilibrium, center of mass, and estimating center of mass location for body segments.

    Copyright:

    © All Rights Reserved
    Download as PDF, TXT or read online from Scribd
    Download as pdf or txt
    173 views43 pages

    Static Torque PDF

    Uploaded by

    lylyho91
    This document discusses torques and moments of force. It begins by defining torque and moment arm, and describes torque as the vector cross product of moment arm and force. It then discusses levers and classes of levers, mechanical advantage, and how levers can trade force for distance. Examples are given for calculating torque using the mathematical definition and right hand rule. The document concludes by discussing static equilibrium, center of mass, and estimating center of mass location for body segments.

    Copyright:

    © All Rights Reserved
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    of 43

    Torques and Moments of Force

    Torques

    Slide 1

    ESS 3093 Biomechanics

    Class Objectives
    Introduce Levers and Mechanical Advantage
    Define Torque and moment arm
    Moment arm as a radius vector
    Torque as a vector cross product

    Static Equilibrium Including Torque


    Define Center of Mass
    Estimate the Location of the Center of Mass
    Torques

    Slide 2

    ESS 3093 Biomechanics

    Levers and Leverage

    Torques

    Slide 3

    ESS 3093 Biomechanics

    Mechanical Advantage
    MA =

    effort arm
    reistance arm

    Torques

    Slide 4

    ESS 3093 Biomechanics

    Levers Trade Force for Distance


    If Mechanical Advantage is > 1,
    Effort force < Resistance force
    Effort movement > Resistance movement

    If Mechanical Advantage is < 1,


    Effort force > Resistance force
    Effort movement < Resistance movement

    What does that tell you about range of


    motion? Speed?

    Torques

    Slide 5

    ESS 3093 Biomechanics

    Classes of Levers

    Resistance

    Effort

    1st Class:
    Direction reversed

    2nd Class

    Effort

    Resistance

    Direction maintained
    MA > 1

    3rd Class:

    Resistance

    Effort

    Direction maintained
    MA < 1
    Torques

    Slide 6

    ESS 3093 Biomechanics

    Torque

    The turning effect caused by a force


    Moment of force

    Torques

    Slide 7

    ESS 3093 Biomechanics

    Mathematical Definition of Torque


    T = r F

    Axis of
    rotation

    Moment arm

    T = torque (Nm)
    r = moment arm (m)

    Force

    Distance from the axis of rotation to the line of


    action of the force
    Perpendicular to the line of action of the force
    Moment arm
    F = force (N)
    Units: Newton x meters (Nm)

    90

    x
    Torques

    Slide 8

    ESS 3093 Biomechanics

    Torque Direction
    Direction
    + Torque = counter clockwise
    - Torque = clockwise
    Right hand rule

    Torques

    Slide 9

    ESS 3093 Biomechanics

    Internal and External Torque


    External Torque

    Internal Torque

    Torques

    Slide 10

    ESS 3093 Biomechanics

    Moment Arm
    Definition: Distance from the axis of
    rotation to the line of action or the force
    AND Perpendicular to the line of action
    of the force
    Moment arm

    Force

    Axis
    Torques

    Slide 11

    ESS 3093 Biomechanics

    Moment Arm: General Case


    1. What is the moment arm to the muscle
    force, OR
    2. What is the component of muscle force
    to the bone?

    Muscle
    Force

    Moment arm?

    Axis
    Torques

    Bone
    Slide 12

    ESS 3093 Biomechanics

    Moment Arm: General Case


    Method 1
    Use trig to find the length of the moment arm from
    the axis to the line of action of the force
    Moment arm = d sin

    Torque = Fm d sin

    Muscle
    Force (Fm)

    Moment arm?

    Axis, Joint
    center
    Torques

    d
    Slide 13

    Bone
    ESS 3093 Biomechanics

    Moment Arm: General Case


    Method 2
    Use trig to find the component of muscle force which acts
    to the bone
    F = Fm sin

    T = d Fm sin
    Muscle
    Force

    Component of
    Muscle Force
    to the bone

    Torques

    Axis

    Slide 14

    Bone

    ESS 3093 Biomechanics

    Example 1
    A force of 200 N is exerted 0.25 m from
    the axis of rotation. What is the
    resulting torque?

    r
    F
    Torques

    Slide 15

    ESS 3093 Biomechanics

    Example 2
    What is the torque about the elbow
    produced by the following conditions:
    a 900 N force pulling on the forearm
    at an angle of 110 deg from the horizon
    at a point 3 cm to the right of the elbows
    axis of rotation
    with the forearm horizontal

    Torques

    Slide 16

    ESS 3093 Biomechanics

    T = rm Fm
    rm = d sin 110

    Fm = 900 N

    T = Fm d sin 110
    T = 900 N x 0.03 x sin 110
    T = 25.4 Nm
    rm = ?

    110 deg
    d = 0.03 m
    Torques

    Slide 17

    ESS 3093 Biomechanics

    The muscle tendon moment arms vary with joint angle.

    Arthur Jones
    Torques

    Slide 18

    ESS 3093 Biomechanics

    Moment arm as a vector


    Torque as a vector cross product

    Torques

    Slide 19

    ESS 3093 Biomechanics

    Simple Torque Calculation


    T = r F
    +rx +Fy = +T (CCW)
    T = rx Fy
    +rx
    Convention
    +Y

    + rotation

    +Fy
    +X
    Torques

    Slide 20

    ESS 3093 Biomechanics

    Simple Torque calculations


    T = r F
    +ry +Fx = -T (CW)
    T = -(ry Fx)
    +Fx

    Convention
    +Y

    + rotation

    +ry

    +X
    Torques

    Slide 21

    ESS 3093 Biomechanics

    Torque as a Vector Cross Product


    Tz = (rx Fy) (ry Fx)
    Tz= (xpa-xar) Fy (ypa-yar) Fx
    rx = xpa xar

    Axis of rotation (ar), x,y

    ry = ypa - yar
    Point of application (pa) x,y
    F y, F x
    Torques

    Slide 22

    ESS 3093 Biomechanics

    Torque as a Vector Cross Product


    Tz = (rx Fy) (ry Fx)
    Tz= (xpa-xar) Fy (ypa-yar) Fx
    Axis of rotation (ar), x,y

    rx

    ry = ypa - yar

    ry

    Point of application (pa) x,y


    Fy

    Fx

    Torques

    rx = xpa xar

    Slide 23

    ESS 3093 Biomechanics

    F = 900 cos 110, 900 sin 110


    r = 0.03, 0
    Fm = 900 N
    T = (rx Fy) (ry Fx)
    T = 0.03 x 900 sin 110 - 0
    T = 25.4 Nm

    rm = ?

    FMx = 900N x cos 110 = -307.8


    FMy = 900N x sin 110 = 845.7
    Rx = 0.03 Ry = 0
    Tz = (rx Fy) (ry Fx)
    Tz = (0.03 x 845.7) (0 x -307.8)
    Tz = 25.4 0
    T = 25.4

    110 deg
    d = 0.03 m
    Torques

    Slide 24

    ESS 3093 Biomechanics

    Static Equilibrium
    F = 0
    T = 0
    Combination allows
    solutions of indeterminate
    problems

    Torques

    Slide 25

    ESS 3093 Biomechanics

    A person is holding a 420N (94lb)


    dumbbell 0.4m from the elbow in a
    static position as shown.
    The arm weighs 45N and the center of
    mass of the arm is 0.15m from the
    elbow.
    What is the torque generated by the
    elbow flexors if the muscle tendon
    moment arm is 0.05m?
    What is the force generated by the
    elbow flexors to maintain this static
    position (assume Fm is vertical)?
    Tm = ?
    Fm = ?
    Fj = ?
    Torques

    Fj

    Slide 26

    ESS 3093 Biomechanics

    Tdumb = r x F
    Tdumb = 0.4 x -420 N
    Tdumb= -168 Nm
    Tarm = r x F
    Tarm = 0.15 x -45
    Tarm = -6.75 Nm
    Sum of Torques = Tm + -168Nm + -6.75Nm = 0
    Tm -174.75 = 0
    Tm = 174.75 Nm
    Tm = r x F
    174.75 Nm = 0.05 m x Fm
    Fm = 3495 N
    Ftotal=-420 -45+3495 + Fj = 0
    Fj = -3030 N

    Torques

    Fj

    Slide 27

    ESS 3093 Biomechanics

    Food for thought: The torques produced by free weights vary as the
    moment arms of these weights change during the movement

    T=rxF
    Dumbbells dont get heavier,
    but the torque gets larger as
    the elbow is flexed
    Wdb

    Torques

    Slide 28

    Wdb
    ESS 3093 Biomechanics

    Application: Low Back Pain


    Lower back pain (LBP) is
    the most costly
    musculoskeletal disorder
    in industrial nations
    80% will suffer LBP
    LBP can be completely
    debilitating to temporarily
    annoying

    Torques

    Slide 29

    ESS 3093 Biomechanics

    Biomechanics of Lifting
    The disk between L5/S1 incurs the
    greatest moment in lifting and is one
    of the most vulnerable tissues to
    force-induced injuries.

    Torques

    Slide 30

    ESS 3093 Biomechanics

    Lifting
    Calculate the forward
    bending torque about
    L5/S1 axis:
    Lw = 0.25 m
    Lp = 0.4 m

    Torques

    Slide 31

    ESS 3093 Biomechanics

    T=0
    T = Tb + Tw + Tp = 0
    Tb = -Tw - Tp
    Tb = -(Fw Lw) - (Fp Lp)
    Tb = -(-450*.25) - (-200*.4)
    Tb = 192.5 Nm

    Lifting

    If the moment arm of the erector spinae is .05


    m then what is the magnitude of the Fm?
    T = F x moment arm
    F= T/moment arm
    = 192.5Nm/.05m = 3850N
    This generally represents the force on the disc
    as well as muscle and connective tissue

    Torques

    Slide 32

    ESS 3093 Biomechanics

    Center of Mass
    Mean position of the mass of a body
    A point about which a bodys mass is
    evenly distributed
    The CoM need not be within body

    Torques

    Slide 33

    ESS 3093 Biomechanics

    Example

    Torques

    Slide 34

    ESS 3093 Biomechanics

    Center of Mass: Balance Point

    Torques

    Slide 35

    ESS 3093 Biomechanics

    CoM by Mass Moments


    Mass Moment = Mass Displacement

    m1

    x1

    Torques

    Slide 36

    ESS 3093 Biomechanics

    CoM by Mass Moments


    MMs of all components = MMCoM

    m1

    m2
    x1

    Torques

    x2

    Slide 37

    ESS 3093 Biomechanics

    CoM by Mass Moments


    MMs = m1x1 + m2x2 = MtotalxCoM
    MtotalxCoM = m1x1 + m2x2 = (m1 + m2)xCoM
    xCoM = (m1x1 + m2x2)/(m1 + m2)
    Works for any number of masses (not just 2)

    Total Mass

    m1

    m2
    x1
    Torques

    Slide 38

    xCoM

    x2
    ESS 3093 Biomechanics

    Segmental Center of Mass


    Thigh
    CoM: 43% of the length from the hip to the knee
    Mass: 14.6% of body mass

    Leg
    CoM: 43% of the length from the knee to the ankle
    Mass: 4.3% of body mass

    Foot
    CoM: 50% of the length from the ankle to the 2nd metarsal head
    Mass: 1.4% of body mass

    Torques

    Slide 39

    ESS 3093 Biomechanics

    CoM by Mass Moments


    Thigh
    CoM: 43% of the length from the hip to the knee
    Mass: 14.6% of body mass

    Leg
    CoM: 43% of the length from the knee to the ankle
    Mass: 4.3% of body mass

    Foot
    CoM: 50% of the length from the ankle to the 2nd metarsal head
    Mass: 1.4% of body mass
    14.6% BM

    43% LThigh
    Torques

    4.3% BM

    43% LLeg
    Slide 40

    1.4% BM

    50% Lfoot
    ESS 3093 Biomechanics

    2D components of CoM

    Torques

    Slide 41

    ESS 3093 Biomechanics

    CoM in Two Dimensions?


    The center of mass of the thigh is
    located 43% of the segment length
    from the hip joint.
    What is the location of the CoM of the
    thigh segment with the hip located at
    (0.5, 1.0) and the knee located at
    (0.275, 0.61)?
    Torques

    Slide 42

    ESS 3093 Biomechanics

    (0.5, 1.0)

    X direction
    CoMx = Xprox - 0.43(Xprox-Xdist)
    = 0.5 0.43(0.5-0.275)

    (0.275, 0.61)

    = 0.403
    Y direction
    CoMy = Yprox - 0.43(Yprox-Ydist)
    = 1.0 0.43(1.0-0.61)
    = 0.832
    CoM will be at (0.403, 0.832)
    Torques

    Slide 43

    ESS 3093 Biomechanics

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