A method of dynamic simulation of mechanisms which constructs the lagrangian form of the dynamics equations as pure differential equations in terms of a minimal set of generalized coordinates. The dynamics problem is separated into two parts used in the lagrangian--a kinematic analysis and a kinetics analysis. The kinematic analysis is computed using a degrees of freedom analysis. The velocities required for the kinetic analysis are computed using screw theory. Once constructed, the lagrangian dynamics equations are solved for accelerations, applied to the mechanism, and integrated over time to simulate the dynamics of the mechanism. The kinetic and kinematic analyses are approximately linearly related to the number of components in the mechanism, allowing efficient solution of dynamics problems at interactive rates.
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