Dynamic modeling of planar closed-loop kinematic chains based on an instantaneously unconstrained energy equivalence scheme

Chieng Liang Lai, Wei-Hua Chieng, D. A. Hoeltzel

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

Abstract

Traditional Euler-Lagrange methods for the dynamic analysis of kinematic chains require repetitive calculation of the kinematic constraints. This becomes very inefficient as the number of joints (or kinematic constraints) increases. This paper presents a new approach for the dynamic analysis of constrained dynamic systems. The salient feature of this approach is the separation of the kinematic analysis from the dynamic analysis. Following this separation, the resulting dynamic system becomes instantaneously unconstrained. While the discussion is mainly oriented towards the analysis of planar mechanisms, the model can be readily extended to the analysis of spatial mechanisms. A methodology for computer-aided symbolic derivation of the dynamic equations based on this approach is presented, and a numerical example which demonstrates a significant reduction in computing time for the dynamic analysis of a planar mechanism, as compared with conventional solution approaches, is provided.

Original languageEnglish
Title of host publicationASME 1991 Design Technical Conferences
PublisherAmerican Society of Mechanical Engineers (ASME)
Pages327-338
Number of pages12
ISBN (Print)9780791897768
DOIs
StatePublished - 22 Sep 1991
EventASME 1991 Design Technical Conferences, DETC 1991 - Miami, United States
Duration: 22 Sep 199125 Sep 1991

Publication series

NameProceedings of the ASME Design Engineering Technical Conference
Volume2

Conference

ConferenceASME 1991 Design Technical Conferences, DETC 1991
Country/TerritoryUnited States
CityMiami
Period22/09/9125/09/91

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