Redundant Joint Apparatus: Instructional Manual
Redundant Joint Apparatus: Instructional Manual
Redundant Joint Apparatus: Instructional Manual
OF
REDUNDANT JOINT
APPARATUS
By:
1.0 Theory 03
2.0 Objective 04
3.0 Apparatus 05
7.0 Precautions 05
3
REDUNDANT JOINT APPARATUS
1.0 THEORY:
If v and h are the vertical and horizontal movement of the point d under load W,
the extension of various members can be calculated as follows:
a b
C
A B y
x
T3
c
T 1L1
T2 L2
D
D' v
W
h
Three Bar Suspension System
Extension of BD =v
Extension of AD = v sin x - h cos x
Extension of CD = v sin y + h cos y
c c
Also, sin x , sin y
L1 L2
a b
cos x , cos y
L1 L2
Where, AB = a and BC = b
(cv ah) K 1
T1 (1)
L1
(cv ah) K 2
T2 (2)
L2
cv K 3
T3 = K3v
c
(3)
Now we have five equations for five unknown T1, T2, T3, v and h:
Hence by solving we get
W ( N 1 a N 2 b)
h (6)
c N 1 N 2 ( a b) 2 N 3 ( N 1 a 2 N 2 b 2 )
W ( N1a 2 N 2 b 2 )
and v (7)
c 2 N 1 N 2 ( a b) 2 N 3 ( N 1 a 2 N 2 b 2 )
Where,
AE 1 K
N 1 1 1 2 21
L1 L1 L1
AE 1 K
N 2 2 2 2 22
L2 L2 L 2
AE 1 K
N 3 3 3 2 23
c c c
AE
Here, is a property of the member, called stiffness of the member and is
L
defined as load per unit extension. The stiffness K, can be found for each spring
separately by taking it out and by suspending from it load 1,2,3,4,5kg in succession
and measuring the extension in each case. A graph is plotted for load against
extension, which should be a straight line with in elastic range and the value of K
is obtained from it.
After knowing h and v from equations (6) and (7), the tension T 1 T2 and T3 can be
calculated from equations (1), (2) and (3) respectively and compared with the
measured values in spring balance of each member.
2.0 OBJECTIVE:
5
Comparison of experimental and theoretical results of forces in the members and
the component displacement of the loaded joint D of a three bar suspension system
for vertical loads.
3.0 APPARATUS:
Value of v, h, T1 T2 and T3
Value v (mm) h (mm) T1 (kg) T2 (kg) T3 (kg)
of
Observed Calculated Observed Calculated Observed Calculated Observed Calculated Observed Calculated
7.0 PRECAUTIONS: