Dynamic Behavior of Spatial Linkages: Part 1—Exact Equations of Motion, Part 2—Small Oscillations About Equilibrium

Abstract

Part 1: Over the past several years, the matrix method of linkage analysis has been developed to give the kinematic, static and dynamic force, error, and equilibrium analyses of three-dimensional mechanical linkages. This two-part paper is an extension of these methods to include some aspects of dynamic analysis. In Part 1, expressions are developed for the kinetic and potential energies of a system consisting of a multiloop, multi-degree-of-freedom spatial linkage having springs and damping devices in any or all of its joints, and under the influence of gravity as well as time varying external forces. Using the Lagrange equations, the exact differential equations governing the motion of such a system are derived. Although these equations cannot be solved directly, they form the basis for the solution of more restricted problems, such as a linearized small oscillation analysis which forms Part 2 of the paper. Part 2: This paper is a direct extension of Part 1 and it is assumed that the reader has a thorough knowledge of the previous material. Assuming that the spatial linkage has a stable position of static equilibrium and oscillates with small displacements and small velocities about this position, the general differential equations of motion are linearized to describe these oscillations. The equations lead to an eigenvalue problem which yields the resonant frequencies and associated damping constants of the system for the equilibrium position. Laplace transformations are then used to solve the linearized equations. Digital computer programs have been written to lest these methods and an example solution dealing with a vehicle suspension is presented.