A General Scheme
for the Dynamic Force Analysis of Planar Mechanisms
by Dibakar Sen, Bhaskar Dasgupta and T. S. Mruthyunjaya
Abstract:
The paper presents a generalized scheme for the dynamic force
analysis of arbitrary planar mechanisms. Given the complete
description of the mechanism and the position, velocity and
acceleration of all the links, the algorithm determines the
required actuation forces/torques and the joint reactions.
The general framework of the algorithm allows the solution of
mechanisms with simple or multiple
joints of revolute, prismatic and cam-follower type.