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RESEARCH PAPERS: Mechanisms Papers

Complete Dynamic Analysis of Elastic Linkages

[+] Author and Article Information
M. Dado

Oklahoma State University, Stillwater, OK 74078

A. H. Soni

Robot Design Center, Oklahoma State University, Stillwater, OK 74078

J. Mech., Trans., and Automation 109(4), 481-486 (Dec 01, 1987) (6 pages) doi:10.1115/1.3258821 History: Received July 01, 1986; Online November 19, 2009

Abstract

A complete dynamic analysis procedure to analyze elastic linkages is presented in this study. Forward and inverse dynamics techniques are developed for elastic linkages with revolute and prismatic pairs. The techniques utilize finite-line-element method in solving for the elastic displacements and system internal forces. The analysis procedure is applicable to multiloop and multidegree-of-freedom systems. The driving forces and torques may be functions of time, displacement, and/or velocity. In forward dynamic analysis, an integration procedure is developed to evaluate the system coordinate velocities and displacements. Numerical examples are presented to illustrate the analysis techniques and their features.

Copyright © 1987 by ASME
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