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1 Computer Assisted Methods in Engineering and Science

1 2020

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Inverse kinematics of a spatial mechanismusing multibond graph

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Maini A. K. , Vaz A.

tom Vol. 27, no. 1

71--85

Various methods are available to compute kinematics and dynamics in the case of spa-tial mechanisms. These methods are cumbersome and laborious for large and multibodyspatial mechanisms. The bond graph technique is a powerful alternative tool for mode-ling. A four-link closed-chain 3R2S (3Revolute 2Spherical) spatial mechanism stands outamong the other four-link closed-chain spatial mechanisms due to its ability to be used ina number of applications. The main aim of this paper is to compute the inverse kinematicsof the mechanism using the bond graph structure of the system. In this paper, modeling ofa four-link closed-chain 3R2S spatial mechanism has been conducted using a multibondgraph approach. Inverse kinematics of the spatial mechanism, under various applications,has been directly obtained from the bond graph modeling. MATLAB coding for simula-tion has been done directly from the multibond graph without explicitly deriving systemequations. The simulation results have been analyzed and discussed using various plots.