Dynamics of Double Pendulum

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copied and modified for your own internal use. All trademarks are the property of
their respective owners. See www.comsol.com/trademarks.
 Background and Motivation
This tutorial application demonstrates the
modeling of a hinge joint between two bodies in
COMSOL Multiphysics.

Various nodes available for joints such as

Constraints, Locking, Spring, Damper, Prescribed
Motion, and Friction are also demonstrated.

These features are demonstrated using the

double pendulum as an example.
 Modeling Interface
The Multibody Dynamics interface is used to
model hinge joint between two bodies.
 Geometry

Hinge Joint
 Application Setup
This application is solved with six different
settings:
Basic hinge joint
Constraints on joint
Locking on joint
Spring and damper on joint
Prescribed motion on joint
Friction on joint
 Case-1

Basic Hinge Joint

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copied and modified for your own internal use. All trademarks are the property of
their respective owners. See www.comsol.com/trademarks.
Operating Conditions (Case-1)

Pinned

Gravity

Flexible bodies

Hinge Joint
Results (Case-1)
Results (Case-1)
Results (Case-1)
 Case-2

Hinge Joint with Constraints

Copyright 2015 COMSOL. Any of the images, text, and equations here may be
copied and modified for your own internal use. All trademarks are the property of
their respective owners. See www.comsol.com/trademarks.
Operating Conditions (Case-2)

Fixed

Gravity

Flexible bodies

Hinge Joint
(Constraints)

Joint Constraint: <= 45

Results (Case-2)
Results (Case-2)
Results (Case-2)
Results (Case-2)
 Case-3

Hinge Joint with Locking

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copied and modified for your own internal use. All trademarks are the property of
their respective owners. See www.comsol.com/trademarks.
Operating Conditions (Case-3)

Pinned

Gravity

Flexible bodies

Hinge Joint
(Locking)

Joint Locking: = 45
Results (Case-3)
Results (Case-3)
Results (Case-3)
 Case-4

Hinge Joint with Spring and Damper

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copied and modified for your own internal use. All trademarks are the property of
their respective owners. See www.comsol.com/trademarks.
Operating Conditions (Case-4)

Fixed

Gravity

Rigid bodies

Hinge Joint
(Spring-damper)

Spring constant (k): 5e6 N/m

Damping coefficient (c): 1e6 N-s/m
Results (Case-4)
Results (Case-4)
Results (Case-4)
 Case-5

Hinge Joint with Prescribed Motion

Copyright 2015 COMSOL. Any of the images, text, and equations here may be
copied and modified for your own internal use. All trademarks are the property of
their respective owners. See www.comsol.com/trademarks.
Operating Conditions (Case-5)

Fixed

Rigid bodies

Hinge Joint
(Prescribed motion)

Joint angular velocity (): t rad/s

(Free after 1 sec)
Results (Case-5)
Results (Case-5)
Results (Case-5)
 Case-6

Hinge Joint with Friction

Copyright 2015 COMSOL. Any of the images, text, and equations here may be
copied and modified for your own internal use. All trademarks are the property of
their respective owners. See www.comsol.com/trademarks.
Operating Conditions (Case-6)

Fixed

Gravity

Rigid bodies

Hinge Joint
(Friction)

Friction coefficient (): 0.6

Results (Case-6)
Results (Case-6)
Results (Case-6)
Results (Case-6)
 Thanks

Copyright 2015 COMSOL. Any of the images, text, and equations here may be
copied and modified for your own internal use. All trademarks are the property of
their respective owners. See www.comsol.com/trademarks.