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

研究成果: Conference contribution同行評審

摘要

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.

原文English
主出版物標題ASME 1991 Design Technical Conferences
發行者American Society of Mechanical Engineers (ASME)
頁面327-338
頁數12
ISBN(列印)9780791897768
DOIs
出版狀態Published - 22 九月 1991
事件ASME 1991 Design Technical Conferences, DETC 1991 - Miami, United States
持續時間: 22 九月 199125 九月 1991

出版系列

名字Proceedings of the ASME Design Engineering Technical Conference
2

Conference

ConferenceASME 1991 Design Technical Conferences, DETC 1991
國家/地區United States
城市Miami
期間22/09/9125/09/91

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