0
Research Papers

Solution of the Forward Dynamics of a Single-loop Linkage Using Power Series

[+] Author and Article Information
Paul Milenkovic

Department of Electrical and Computer Engineering,  University of Wisconsin-Madison, Madison, WI 53706phmilenk@wisc.edu

J. Dyn. Sys., Meas., Control 133(6), 061002 (Sep 09, 2011) (9 pages) doi:10.1115/1.4004766 History: Received November 29, 2010; Revised May 06, 2011; Accepted May 10, 2011; Published September 09, 2011; Online September 09, 2011

The kinematic differential equations express the paths taken by points, lines, and coordinate frames attached to a rigid body in terms of the instantaneous screw for the motion of that body. Such differential equations are linear but with a time-varying coefficient and hence solvable by power series. A single-loop kinematic chain may be expressed by a system of such differential equations subject to a linear constraint. A single matrix factorization followed by a sequence of substitutions of linear-system right-hand-side terms determines successive orders of the joint rate coefficients in the kinematic solution for this mechanism. The present work extends this procedure to the forward dynamics problem, applying it to a Clemens constant-velocity coupling expressed as a spatial 9R closed kinematic chain.

FIGURES IN THIS ARTICLE
<>
Copyright © 2011 by American Society of Mechanical Engineers
Your Session has timed out. Please sign back in to continue.

References

Figures

Grahic Jump Location
Figure 1

Clemens CV coupling at three representative postures

Grahic Jump Location
Figure 2

Plan view of Clemens CV coupling at initial posture

Grahic Jump Location
Figure 3

Dynamic response of Clemens CV coupling input shaft angle for three conditions

Grahic Jump Location
Figure 4

Dynamic response of Clemens CV coupling for torsion springs (K = 10) on pitch and yaw axes

Tables

Errata

Discussions

Some tools below are only available to our subscribers or users with an online account.

Related Content

Customize your page view by dragging and repositioning the boxes below.

Related Journal Articles
Related eBook Content
Topic Collections

Sorry! You do not have access to this content. For assistance or to subscribe, please contact us:

  • TELEPHONE: 1-800-843-2763 (Toll-free in the USA)
  • EMAIL: asmedigitalcollection@asme.org
Sign In