Abstract:
This paper
presents a technique of expressing the translational kinetic
energy of the floating link due to translation of the center of
mass in terms of the absolute and relative velocities of certain
particular points. Then, the input torque due to mass-inertia
effects for spatial linkages can be formulated as a linear
combination of independent terms of motion parameters with
different mass distribution coefficients. In the paper, the
spatial 5-bar RRSRR linkage is taken as an illustrating example.
Key words:
Spatial linkage Input torque Linear
formulation
Manuscript received on
February 1, 1993
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