Abstract
Application of models of compliant (flexible) joints instead of constraint equations for systems with closed-loop kinematic chains is considered; this makes it possible to replace differential-algebraic motion equations by stiff ordinary differential equations. For substantiation of this replacement, methods of analysis of singularly perturbed equations are used. Examples of mathematical models of compliant joints and expressions for approximate Jacobian matrices corresponding to these force interactions are given. Numerical solutions of direct and inverse dynamics equations for a number of controlled mechanisms are used for testing the method and its program realization.
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