An Alternative Approach to the Dynamics Analysis of Closed-Loop Mechanisms

摘要

Dynamics analysis is crucial not only for model-based control, but also for design. This task, however, is quite challenging when it comes to closed-loop mechanisms. The authors resort to the natural orthogonal complement, to formulate the dynamics model of this kind of mechanisms; the technique is illustrated with an application to the well-known Bricard mechanism, which is overconstrained and hence, highly demanding in terms of meeting the constraints. It is shown that this approach offers a systematic way of producing the dynamic response of closed-loop mechanisms, which reduces the computation complexity, and hence is quite suitable for real-time control and mechanical design. Moreover, this approach is shown to be especially suitable for single-loop mechanisms, whose formulation cost is virtually the same as that for an open chain.