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.

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