Method of Transmission Matrix Applying for Investigation of the Motion of Planar Mechanisms

• Autorzy: Do S. , Do D. K.
• Języki publikacji: EN

Abstrakty

EN

In this paper, the method of transmission matrix is applied for investigating planar mechanisms. As is known, many engineering problems such as in synthesis problems and motion analysis, system control problems by means of servo variables (velocities of servomotor), the problem of determining the reaction forces of driving joints, the problem of drawing the motion equations, etc. are increasingly interested. There is an object (a particle or body) connected with a frame of reference which moves with respect to another frame. It is necessary to define the configuration (positions, velocities, accelerations) of the object in the latter frame. Two types of reference frames are defined. A frame fixed in time is named as the inertia frame or global frame of reference and the frame attached to each body of the system - the body frame of reference. The problem is stated as follows: determine the global configuration of a particle fixed in any body of the system. In this paper, a method of transmission matrices is constructed for solving problems of kinematics and dynamics of the systems. The obtained results are illustrated by examples.

Słowa kluczowe

EN

method of transmission matrix; reaction forces of driving joints; matrix of inertia; rule of differentiating matrix

PL

sposoby przekazywania matrycy; matryca bezwładności; zasada zróżnicowania matrycy

• Wydawca: Oficyna Wydawnicza Politechniki Warszawskiej
• Czasopismo: Machine Dynamics Research
• Rocznik: 2010
• Tom: Vol. 34, No. 4
• Strony: 5--22
• Opis fizyczny: Bibliogr. 6 poz., wykr.

Twórcy

autor

Do S.

autor

Do D. K.

• Hanoi University of Technology, Department of Applied Mechanics,

Bibliografia

• Do Sanh, Dinh Van Phong, Do Dang Khoa, Tran Due, 2007, Investigation of Dynamics and Control of the Single - Wheel Vehicle, Machine Dynamics Problems, 31, No 4, 46-56.
• Do Sanh, Dinh Van Phong, Do Dang Khoa, Tran Due, 2008, Control of Program of Systems Using Relative Motions, Technische Mechanik, Band 28, Heft 3-4, 211-218.
• Do Sanh, Dinh Van Phong, Phan Dang Phong, Do Dang Khoa, Nguyen Cao Thang, 2009, Problem of determining the reaction forces of mechanical constraints, Proceedings of the 1 International Symposium on Robotics and Mechatronics, September 21-23, Hanoi, Vietnam, 129-135.
• Haug, E. J., 1989, Computer Aided Kinematics and Dynamics of Mechanical Systems, Vol. I, Basic Method, Alyn & Bacon, NewYork.
• Nikraves, P. E., 1989, Computer-Aided Analysics of Mechanical System, Printice Hall, NewYork.
• Shabana, A., 1989, Dynamics of Multibodies Systems, John Willey & Sons, NewYork/Chichester/Brisbane.