Equations of Motion of Planar Serial Chains of Rigid Bodies

摘要

In the present study, the equations of motion of planar serial chains that consist of a system of rigid bodies with all common types of kinematic joints are presented. The system of rigid bodies is replaced by a dynamically equivalent constrained system of particles. The concepts of linear and angular momentums are used to generate the equations of motion for the resulting equivalent constrained system of particles without either introducing any rotational coordinates or distributing the external forces and force couples over the particles. The method can be applied for open or closed chains. An example of a closed chain is chosen to demonstrate the generality and simplicity of the proposed method.