ME 5180: Advanced Dynamics | Project 02 | Group16

Runtime Metric:

• I have a Intel Core i9-9900K CPU @ 3.60 GHz and the project_02.jl file runs in Pluto in 50 seconds.

Group Members:

• Jimmy Padilla
• My Nguyen
• Jay Yang
• Eric Dillner
• Brice Liew
• Ameet Gambhirwala

Project_02 - Multibody kinematic modeling

In this project, a rigid bar is connected to two sliding pistons along the diagonal tracks. As the pistons move along the tracks, the rigid bar rotates at a constant rate, $\dot{\theta}_3 = 2~rad/s$. The figure above has three relative ccoordinate systems that move with the bodies:

1. $x_1-y_1-$ describes piston 1 position and orientation, $\theta_1$
2. $x_2-y_2-$ describes piston 2 position and orientation, $\theta_2$
3. $x_3-y_3-$ describes the rigid bar position and orientation, $\theta_3$

Each of the pistons are on tracks at $\pm 45^o$ and the rotating rigid bar is 10 cm. The hinges are mounted to the center of the pistons connecting the ends of the rigid bar.

In this project, you need to

1. determine constraint equations $C(\mathbf{q},~t)$
2. solve for the velocities, $\dot{q}$ and accelerations, $\ddot{q}$
3. visualize the motion of the system as the rigid bar goes through at least one full rotation