Abstract
It is demonstrated that the center of mass (CM) of an n-link system can be determined from the segmental end-point locations and n parameters which are referred to as the structure parameters of the system. If the CM location of the system can be expressed as a polynomial function of time involving unknown coefficients, then the structure parameters and the coefficients may be found from the observed motion of the segmental endpoints. This provides a method for the calculation of the CM kinematics without any knowledge of the segmental parameters of mass or CM locations. The individual segment masses and CM locations along the segments are related by the structure parameters from which may be calculated the masses if the CM locations of each segment are known, or the CM locations if the masses are specified. Hence the method may also be used to measure segment parameters. Application is made to single chain multiplelink systems moving in two dimensions under the influence of gravity. Such a model has many applications in sport, free-fall and weightlessness.
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