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Overview
This lecture reviews the design of experiments
for measuring inertia properties of rigid bodies,
mainly for rotational dynamics.
A knowledge of basic pendulum dynamics is
required.
ME 244L
Dynamic Systems and Controls Laboratory
Specific Tasks
Modeling of a rotational pendulum with either
two or three suspension files.
Design of experiments using bifilar or
trifilar configuration.
Perform experiments with simple rigid bodies
to confirm model.
ME 244L
Dynamic Systems and Controls Laboratory
Suspension
Puma 560
ME 244L
Dynamic Systems and Controls Laboratory
Moment of Inertia
The moment of inertia, J, of a rigid body about
an axis is defined by,
2
J = r dm
Moments of Inertia
ME 244L
Dynamic Systems and Controls Laboratory
Compound Pendulum
Equation of motion for rotation of a rigid body
about a fixed axis.
Only gravity is external force (neglect any
damping due to air, pivot, etc.)
Apply Newtons law,
J!! = mglc sin
ME 244L
Dynamic Systems and Controls Laboratory
Radius of gyration
The radius of gyration, k, is the distance from
the point of suspension of the pendulum at
which we must concentrate the total mass, m, in
order to obtain the moment of inertia, J, of the
actual mass distribution.
2
J = mk
ME 244L
Dynamic Systems and Controls Laboratory
ME 244L
Dynamic Systems and Controls Laboratory
mg
sin R 2
2
L sin = R sin
L = R
mg R
J!! +
sin R 2 = 0
2 L
mgR 2
= 0
JL
Moment of inertia
!! +
2
Tn mgR
J =
L
2
mgR 2
2
n =
=
Tn
JL
ME 244L
Dynamic Systems and Controls Laboratory
Adjustable Bifilar
The torques on each file will be different here at
the point of attachment, so the period depends on x.
T = 2
J
mgx (d x) / l
Predict a
minimum period:
T
=0
x
d
ME 244L
Dynamic Systems and Controls Laboratory
x 1
=
d 2
ME 244L
Dynamic Systems and Controls Laboratory
ME 244L
Dynamic Systems and Controls Laboratory
d 2G
Jd =
128 f n2 L
d = wire diameter
G=shear modulus of wire
f n = measured natural frequency of
motion in
ME 244L
Dynamic Systems and Controls Laboratory
t 2 2 WR 2
J =
H g 2
t = time to fall height, H
H = height weight falls
W = weight
ME 244L
Dynamic Systems and Controls Laboratory