RESEARCH PAPERS: Mechanisms Papers

Dynamic Analysis of Three-Dimensional Mechanisms in “Natural” Coordinates

[+] Author and Article Information
J. García de Jalón, J. Unda, A. Avello, J. M. Jiménez

Department of Applied Mechanics, University of Navarra, 20006 San Sebastián, Spain

J. Mech., Trans., and Automation 109(4), 460-465 (Dec 01, 1987) (6 pages) doi:10.1115/1.3258818 History: Received July 01, 1986; Online November 19, 2009


In this paper a new method for the dynamic analysis of three-dimensional mechanisms is presented. This method is based on the use, as mechanism coordinates, of Cartesian coordinates and components of some points and vectors rigidly attached to every element. With these coordinates the constraint equations are very easily formulated. A constant mass matrix has been derived for an element with two points and two vectors. Two simple and efficient methods to establish the dynamic equilibrium equations are presented. The use of the singular value decomposition is also included. Finally some comparative results are presented.

Copyright © 1987 by ASME
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