Abstract
In the present study, the equations of motion of planar serialchains that consist of a system of rigid bodies with all commontypes of kinematic joints are presented. The system of rigid bodiesis replaced by a dynamically equivalent constrained system ofparticles. The concepts of linear and angular momentums are used togenerate the equations of motion for the resulting equivalentconstrained system of particles without either introducing anyrotational coordinates or distributing the external forces and forcecouples over the particles. The method can be applied for open orclosed chains. An example of a closed chain is chosen to demonstratethe generality and simplicity of the proposed method.
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