A Topological Approach to the Dynamic Simulation of Articulated Machinery

[+] Author and Article Information
M. J. Richard, I. Bindzi, C. M. Gosselin

Department of Mechanical Engineering, Université Laval, Ste-Foy, Québec, Canada G1K 7P4

J. Mech. Des 117(1), 199-202 (Mar 01, 1995) (4 pages) doi:10.1115/1.2826107 History: Received October 01, 1989; Revised December 01, 1993; Online January 25, 2008


This article presents a method for deriving the equations describing the motion of tree-structured mechanical systems of n rigid bodies linked to one another by spherical, universal and/or rotational joints. The dynamic and kinematic equations are formulated on the basis of the vector-network model. The vector-network approach is a mathematical model for the systematic development of nonlinear equations describing the motion of a system of rigid bodies interconnected by kinematic joints. The entire procedure of the vector-network is an application of the basic concepts of graph theory in which laws of dynamics have been integrated.

Copyright © 1995 by The American Society of Mechanical Engineers
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