Abstract
The paper contains three parts, forming together a rounded whole. In first part of the paper the method for automatic setting of differential equations of motion for complex kinematic chains is presented, suitable for the synthesis of locomotion mechanisms. The second part of paper contains the method, featuring maximum adaptivity, notably in the case of arbitrarily complex open kinematic chains, applied in manipulation mechanisms. Part three contains the procedure, offering the practical possibility of forming functional movements, representing the central position in the paper. The procedure is demonstrated on examples of motion synthesis of manipulation and locomotion mechanisms.
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