TY - GEN
T1 - Dynamic modeling of planar closed-loop kinematic chains based on an instantaneously unconstrained energy equivalence scheme
AU - Lai, Chieng Liang
AU - Chieng, Wei-Hua
AU - Hoeltzel, D. A.
N1 - Publisher Copyright:
© 1991 American Society of Mechanical Engineers (ASME). All rights reserved.
PY - 1991/9/22
Y1 - 1991/9/22
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=85104887556&partnerID=8YFLogxK
U2 - 10.1115/DETC1991-0135
DO - 10.1115/DETC1991-0135
M3 - Conference contribution
AN - SCOPUS:0026404497
SN - 9780791897768
T3 - Proceedings of the ASME Design Engineering Technical Conference
SP - 327
EP - 338
BT - ASME 1991 Design Technical Conferences
PB - American Society of Mechanical Engineers (ASME)
T2 - ASME 1991 Design Technical Conferences, DETC 1991
Y2 - 22 September 1991 through 25 September 1991
ER -