Kinematic and dynamic analysis of open‐loop mechanical systems using non‐linear recursive formulation

摘要: In this paper, a non-linear recursive formulation is developed for kinematic and dynamic analysis of open-loop mechanical systems. The equations motion are deformable links that undergo large translational rotational displacements. These formulated in terms set time invariant scalars matrices depend on the spatial co-ordinates as well assumed displacement field, these quantities represent coupling between rigid-body modes elastic deformations. A new presented solving chains consisting interconnected rigid This expressed by relationships generalized systems to obtain system loosely coupled motion. main processor program consists three modules: constraint module, mass module force module. used numerically evaluate relationship absolute joint accelerations. matrix Coriolis centrifugal forces associated with absolute, co-ordinates. Simultaneously, external Computational efficiency achieved taking advantage structure resulting equations. solution techniques investigation yield much smaller operations count can more efficiently implement any computer. algorithms solutions paper illustrated using an industrial robotic manipulator system. numerical results also discussed paper. Copyright © 2006 John Wiley & Sons, Ltd.