Automated setting of analytical expressions for components of the constraint reactions in the case of multibody systems

摘要

The purpose of this paper is to demonstrate a general procedure suitable for automated setting of analytical expressions of reaction forces and moments acting on links of a mechanical system with kinematic joints of the fifth class (revolute and prismatic joints). First, a simple model of a me-chanical system with a structure of a topological tree will be discussed. Mechanical systems with closed kinematic chains will be also considered. It will be shown that, in the case of a mechanical system with kinematic loops, components of reaction forces are independent only if additional equations of constraints describing closed kinematic chains are all independent.