Constraint: Coupler

Description

This constraint element may be used to model idealized spur gears, rack and pinion gears, and differentials as simple constraints that relate the displacements in a set of joints.

Format

<Constraint_Coupler
     id                     =  "integer"
   [ label                  =  "string" ]
     joint1_id              =  "integer"
     freedom_1              =  { "T" | "R" }
     joint2_id              =  "integer"
     freedom_2              =  { "T" | "R" }
   [
     joint3_id              =  "integer"
     freedom_3              =  { "T" | "R" }
   ]
   {
        coefficients        =  "double, double [, double]"
   |
        usrsub_dll_name     =  "valid_path_name"
        usrsub_param_string =  "USER ( [[par_1][, ...][, par_n]] )" 
        usrsub_fnc_name     =  "custom_fnc_name" >
   |
        script_name         =  valid_path_name
        interpreter         =  "string"  
        usrsub_param_string =  "USER( [[par_1][, ...][, par_n]] )"
        usrsub_fnc_name     =  "custom_fnc_name"
   }
   [ is_virtual          = {"FALSE" | "TRUE"} ]
</Constraint_Coupler>

Attributes

id

Element identification number (integer>0). This is a number that is unique among all Constraint_Coupler elements.

label

The name of the Constraint_Coupler element.

joint1_id

Specifies the ID of the first joint whose degree of freedom is used to define the constraint relationship. 1

freedom_1

Defines the freedom type that is being used for the first joint. For translational and revolute joints, the freedom type is obvious. For cylindrical joints, the freedom type needs to be specified.

"T" indicates that the translational degree of freedom in the joint is to be used.

"R" indicates that the rotational degree of freedom in the joint is to be used.

joint2_id

Specifies the ID of the second joint whose degree of freedom is used to define the constraint relationship. 1

freedom_2

Defines the freedom type that is being used for the second joint. For translational and revolute joints, the choice is obvious. For cylindrical joints, the freedom type needs to be specified.

"T" indicates that the translational degree of freedom in the joint is to be used.

"R" indicates that the rotational degree of freedom in the joint is to be used.

joint3_id

Specifies the ID of the third joint whose degree of freedom is used to define the constraint relationship. joint3_id is an optional parameter. If not specified, the software assumes that only two joint degrees of freedom are specified. 1

freedom_3

Defines the freedom type that is being used for the third joint. For translational and revolute joints, the choice is obvious. For cylindrical joints, the freedom type needs to be specified.

"T" indicates that the translational degree of freedom in the joint is to be used.

"R" indicates that the rotational degree of freedom in the joint is to be used.

coefficients

This defines the scale factors to be used in defining the constraint associated with a coupler. 1

When only two joints are used to specify the coupler constraint, ratio is given two real values. When three joints are used, ratio must be provided with three real values.

usrsub_param_string

The list of parameters that are passed from the data file to the user defined subroutines COUSUB, COUXX, and COUXX2. Use this keyword only when type = USERSUB is selected. This attribute is common to all types of user subroutines and scripts.

usrsub_dll_name

Specifies the path and name of the DLL or shared library containing user subroutine. MotionSolve uses this information to load the user subroutines COUSUB, COUXX, and COUXX2 in the DLL at run time. Use this keyword only when type = USERSUB is selected.

usrsub_fnc_name

Specifies an alternative name for the user subroutine COUSUB.

script_name

Specifies the path and name of the user written script that contains the routine specified by usrsub_fnc_name.

interpreter

Specifies the interpreted language that the user script is written in (example: "PYTHON"). See User-Written Subroutines for a choice of valid interpreted languages.

is_virtual

Defines whether the constraint is virtual or regular. If is_virtual is set to TRUE, the constraint is implemented as a virtual constraint. If is_virtual is set to FALSE, the constraint is implemented as a regular, algebraic constraint. This parameter is optional. The default is FALSE. See Comment 22 in Constraint: Joint for more information about virtual joints.

Example

The image below shows a right angle bevel gear pair. Bevel gear 1, with a pitch radius R₁, is connected to Ground with Revolute Joint 1. It is allowed to rotate about a fixed axis. Bevel gear C, with a pitch radius R₂ is connected to Ground with Revolute Joint 2, and is allowed to rotate about a fixed axis.

We are interested in defining the overall effect of the bevel gear set, for example, the coupling of the rotations in the two revolute joints. We are not interested in the tooth forces that occur at the contact between the two gears. We also assume that the gear mating is perfect and that there is no backlash, no tooth deflection, no eccentricity, or other manufacturing defects.

Assume that the rotation of Gear A is θ₁ and that the rotation of Gear C is θ₂. Then the two rotations can be related by the algebraic relationship:

If R₁ = 10mm and R₂ = 15mm, then a Constraint_Coupler may be defined to capture the effect of Equation 1 as follows:

<Constraint_Coupler
     id              = "1"
     joint1_id       = "1"
     freedom_1       = "R"
     joint2_id       = "2"
     freedom_1       = "R"
     coefficients    = "10.0,15.0"
</Constraint_Coupler>

The second example demonstrates the use of Constraint_Coupler to model a rack and pinion system. The figure below depicts a rack and pinion steering system. The pinion gear P is connected to the housing (not shown) by Revolute Joint 41. This joint allows pinion rotation about a fixed axis that is perpendicular to the plane of the paper. The rack R slides from left-to-right on Translational Joint 51.

Assume that the radius of the pinion gear is 30mm and the system length units are in millimeters. The Constraint_Coupler that defines this scenario may be written as:

<Constraint_Coupler
     id              = "2"
     joint1_id       = "51"
     freedom_1       = "T"
     joint2_id       = "41"
     freedom_2       = "R"
     coefficients    = "1.0,30.0"
</Constraint_Coupler >

The image below demonstrates a third example of a Constraint_Coupler. In this case, the translations in two joints are coupled. The image is a schematic of a hydraulic jack often used in auto repair shops. The hydraulic press consists of two cylinders of very different diameters D₁ and D₂ connected to each other. Two pistons enclose the volume and an incompressible fluid fills the enclosed volume of the press.

The cylinder on the left has a smaller diameter than the cylinder on the right, D₂ >> D₁. A car, to be repaired, is placed on a platform that is rigidly connected to the piston on the right.

The area of the cylinder on the left A₁ = πD₁2/4.

The area of the cylinder on the right A₂ = πD₂2/4.

Assume a force F₁ is applied on the left cylinder, causing it to move by a distance L₁. We are interested in calculating the displacement of the car L₂ and the lifting force F₂.

Since the fluid is incompressible, movement of the left piston causes a volume = L₁*A₁ to be displaced. This must cause the piston on the right to move up so that fluid volume is preserved. The volume of the right cylinder increases by L₂*A₂.

The incompressibility condition leads to: L₁*A₁ + L₂*A₂ = 0

MotionSolve uses the principle of virtual work to automatically calculate the relationship between F₁ and F₂, given the kinematic relationship in xml-format_36.htm#xml-format_36__equation-figure_hhs_5tq_vcb.

The Constraint_Coupler statement that describes Equation 3 is:

<Constraint_Coupler
     id              = "5"
     joint1_id       = "123"
     freedom_1       = "T"
     joint2_id       = "456"
     freedom_2       = "T"
     coefficients    = "20.1885,2018.85"
</Constraint_Coupler
>

Comments

1. Constraint_Coupler defines an algebraic constraint. The constraint can be linear or nonlinear. The linear form of the constraint is:
   $$s_1\ast M_1+s_2\ast M_2\left[+s_3\ast M_3\right]=0$$
   In Equation 2 above, M₁, M₂ and M₃ are coordinate measures of the selected degree of freedom in the selected joints. If I_k and J_k are the I and J markers of Constraint_Joint k, then M_k means the following:

   • Revolute joint: AZ(I_k,J_k)
   • Translational joint: DZ(I_k,J_k,J_k)
   • Cylindrical joint: DZ(I_k,J_k,J_k) if FREEDOM_K = "T" AZ(I_k,J_k) if FREEDOM_K = "R"

   When Equation 2 contains only two joints, s₁ and s₂ need to be specified. These are the first and second values specified for ratio.

   When equation (6) contains three joints, s₁, s₂ and s₃ need to be specified. S₁ is the first value specified for ratio. S₂ is the second value specified for ratio. S₃ is the third value specified for ratio.

2. Constraint_Coupler may also be used to specify nonlinear relationships. In this case, the kinematic relationship may be expressed as:
   $$G_1(M_1)+G_2(M_2)\left[+G_3(M_3)\right]=0$$

   The user defined subroutine COUSUB is used to specify Equation 3 equation . In addition to the above, MotionSolve also requires you to provide the first partial of Equation 3 with respect to M₁, M₂, and M₃. This data is provided to MotionSolve in the user defined subroutine COUXX. Similarly, the second partials are to be returned in a third user defined subroutine COUXX2. M₁, M₂, and M₃ are passed in as arguments to the user defined subroutines.

3. When a nonlinear Constraint_Coupler is defined, Equation 3 (defined in the user defined subroutine COUSUB) is required to be twice differentiable.