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1 Machine Dynamics Research

1 2010

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

Do S., Do D. K.

Machine Dynamics Research

2010

Vol. 34, No. 4

5-22

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.