POLYTECHNIC HIGH SCHOOL OF

CHIMBORAZO

FACULTY OF MECHANICS
SCHOOL OF MECHANICAL ENGINEERING

RESEARCH WORK
DYNAMICS

VIRTUAL POWER METHOD "KINETIC ANALYSIS"

Oscar Nacimba A.
Code: 7 026
Level: Sixth
Teacher: Eng. Geovanny Novillo

October 2018 - February 2019

INTRODUCTION

To avoid posing a large number of equations when it is necessary to carry out

In a dynamic analysis, it is extremely useful to use the power method.
virtual since it allows us to conduct this analysis in a more selective way for
subsequently isolate what interests us from the mechanism in question. That is to say, this
method allows to determine the expression of that connection force or moment of the
mechanism that is of interest without having to address the study of the entire set of
forces.

In this method, a vector associated with velocity—virtual velocity—appears that

in other fields it is associated with a displacement–virtual displacement. In this
In this case, the method is called the virtual work method. For example, it allows
directly determine an equation of motion of the mechanism without having to
use other equations to eliminate link actions, as often happens
when using vector theorems.

In this work, the procedure for using this method will be analyzed.
for example, to conduct an analysis of all the forces and moments of
link of the mechanism. In this case, it is more advantageous to propose the theorems.
vectorials in each member separately and solve the system of equations
linear ones that are usually obtained through numerical methods. It is worth emphasizing
to try to determine all the forces and moments of the link by applying the
The method of virtual powers can be long and complex if not systematized.
using Lagrange's equations.
GENERALITIES

Fundamentals of the method

The method of virtual powers is based on the fact that, in a reference

Galilean, the sum of forces on a particle P, including the inertia force of
d'AlembertƑ ( )is equal to zero:

( ) + Ƒ (P) = 0 Ƒ ( )=– ( ) ( )

If this vector equation is multiplied by an arbitrary vector scalar-wise ∗ ( ),

a single scalar equation is obtained:

( )· ∗( )+Ƒ ( )· ∗( )=0

The chosen vector is given the meaning of velocity, and then the terms of the
Scalar equation has meaning of power.

This vector does not have to correspond to the actual velocity of the particle, and therefore
this is referred to as virtual speed (notation with *). The power obtained this way
denotes the virtual power of the forces acting on the particle. For the
the set of particles of a mechanical system is fulfilled

∑[F( P) .v ∗ (P ) +Ƒ P( .)v ∗ (P)=] 0 (1)

With this expression the following is stated:

The virtual power of the set of forces acting on a mechanical system,

including the d'Alembert inertial forces, is null.

By appropriately choosing the virtual speeds, it is possible to obtain the

equations of motion or the equations for the determination of forces and
unknown moments.

In the static analysis of mechanical systems - structures and mechanisms at rest -

, the inertial forces of d'Alembert are obviously null and equation 1 remains
simplified, as it only includes the forces of external and internal interaction, and
the drag inertial forces if the reference frame of study is not Galilean.

2. Types of virtual movements

There are two types of virtual movements:

a) Compatible with the links

The first ones are used for obtaining equations of motion and of the
unknown forces and moments introduced by actuators.
They are virtual movements that meet the kinematic constraints imposed by
the links and the constitutive kinematic equations of the members; in
in particular, the virtual velocities associated with the particles of a rigid solid
they verify the expression

̅̅̅ ̅
( ) = v *A( +) ω ∗ xAB
v ∗B (2)

Where:

ω =Virtual angular velocity of the solid

Therefore, they can be treated in the same way as movements.

cinematically possible. Thus, the velocity of a point P of the system
it can be expressed as:

v( P= n b (P)u
)∑i=1 (3)
i i

bi (P)uICoefficients for each point as a function of the coordinatesq i

uI Generalized independent speeds (normallyui=I

Number of degrees of freedom.

And the virtual velocities of the virtual movements compatible with the links
they can be expressed

( )∑= i=1biP ui∗

v ∗P ( ) (4)

Where:

ui∗ Independent variables or virtual degrees of freedom.

These movements are usually chosen in such a way that they only depend on
a single degree of freedomuI∗and so they are considered associated with thisui .

v *P( )⋮u=
i
uI (5)

With these virtual movements, the only questions that may arise in the
equations are the unknown forces, different from the linking ones, external and
interiors, and the inertial forces of d'Alembert.

The bonding forces do not intervene, since their strength in this type of movement
is null. To demonstrate this, one must analyze the point contact, with and without
sliding, as a basic link, since any other type of link can be
consider a superposition of these.

Sliding contact
When there is sliding, the binding force on solid 2 has zero power.
being orthogonal to the velocity of the point of applicationJ2 .
 Fig2. Sliding contact

Contact without slipping

When there is no slipping, the binding force on solid 2 also has
zero power when the speed of the point of application is zeroJ2 .

Fig3. Contact without sliding

If the degree of freedom described byui it's an unconstrained degree of freedom, right?
governed by no drive, the obtained equation is called equation
of movement for this degree of freedom. In systems with more than one degree of
freedom, the equations of motion obtained are not in general
decoupled, that is, each of them can include various degrees of freedom and
their derivatives.

If the degree of freedom is governed by some type of actuation, the

expression of the force or moment introduced by it, to ensure control
of the degree of freedom. When a degree of freedom is governed by more than one
drive – for example, electric traction multiple units have
more than one engine–, the expression obtained corresponds to the torsor of the actions
of all the drives and the value of each one remains undetermined.

b) Virtual movements not compatible with the links.

They are used for the determination of link forces and moments. Movements
virtuals compatible with links.
To determine link forces and moments, movements must be chosen.
virtuals that do not verify the restriction associated with the force or the moment of linkage
to be determined it is said that the link breaks. This allows the virtual power
of the force or the moment appear in the equation and can thus be isolated. Within
of what is possible, the virtual movement must be chosen so that only
the force or moment to be determined appears as a variable.

3. Clarifications

Making a virtual move does not mean modifying the real movement of the
This system, therefore, is the system of inertial forces of d'Alembert.

If the system being studied has links with passive resistances, the
forces and the moments that describe them are associated, in principle, with a
non-zero virtual power for the virtual movements compatible with the
links. Passive resistances in the links are often formulated in
function of the bond forces and this requires determining later on
these forces to obtain equations free of binding forces.

The power of a pair of action and reaction forces and,

consequence, that of the whole set of internal forces of a system–
set of action and reaction pairs - is not zero, in principle, and is
independent of the reference from which it is determined. This fact has
to take into account both in the application of the method of virtual powers
as in the theorem of energy.

- Examples of this fact are the power developed by an engine and the
power dissipated by the passive resistors, both non-zero in general
independent of the study reference.
5. Application example

The mechanism shown in the figure is designed to exert a great force on the
horizontal bar for a stamping operation. If the hydraulic cylinder is to exert
an axial force of 800 N and = 80°. What horizontal force is exerted on the bar?
horizontal enA? If the problem is to be solved using the following methods:

The mechanism shown in the following figure is considered, and a speed is assumed.
angle of the bar 2, ⃗ 2 = 1 ∗ ⃗ / .

Applying the equations of relative motion, it is obtained that:

⃗ B3=
⃗ A3+ ⃗3 A3B3

And also:

⃗ C2= ⃗2 O2C2
The position vectors are given by:

O2 = 250 *10-3cos(80°) + sin(80°)* ] = (0.0434* + 0.2462* )m

O2A= 250 *10-3cos(170°) sin(170°)* ] = (-0.2462* + 0.0434* )m

= -0.2462* - 0.0434* )m

Therefore, substituting into the previous velocity equations, it will be:

⃗
⃗ C2= | 0 0 1 |= (-0.2462* + 0.0434* m/s
0.0434 0,24620

On the other hand:

⃗ ⃗
B3∗ =| 0 0 1| + | 0 0 3|
−0,24620.0434 0 −0,2462 −0.0434 0

Where the following system of equations is obtained from:

B3-0.0434 + 0.0434* 3 B3-0.0868 m/s

0 = -0.2462 - 0.2462* 3 3 -1.0 rad/s

The application of the principle of virtual powers will lead to the following equation:

= ⃗ * C2+ ⃗ * B3= 0

Where:

= 800*[cos(145.3773°)* sen(145,3773°)* ] = (-658,3291* + 454,5359* )N

= * N

⃗ = -0.2462* + 0.0434* m/s

⃗ = -0.0868* m/s

By performing the corresponding scalar products, one will arrive at:

162.0806 + 19.2769 - 0.0868 * =0

Where is it obtained from:

2094.0565 N
CONCLUSIONS

Virtual movement refers to the distribution of virtual velocities.

employees in an application of the method of virtual powers.

Virtual movements must be chosen in such a way that, in principle,

dependent on a single generalized virtual-variable speed
independent.

BIBLIOGRAPHY

-I FOIX, Salvador Cardona; COSTA, Daniel Clos. Theory of Machines. Polytechnic University.
of Catalonia, 2001.
-GUBERT, Xavier Ayneto. Mechanics of Continuous Media in Engineering. Polytechnic University.
of Catalonia, 2006.