A general and systematic scheme for computing the dynamics of closed link mechanisms is derived using D'Alembert's principle. To account for the constraints, only the Jacobian matrix of the function which represents the passive joint angles in terms of the actuated ones is required. Given a nonredundant actuator system, this allows a unique representation of the constraints, even for a complicated multi-loop closed link mechanism. The scheme is computationally efficient because it is not necessary to compute Lagrange multipliers. A redundant actuator system is formulated, and the utilization of redundancy is actuation is illustrated.
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