, Volume 40, Issue 1, pp 1–18 | Cite as

Dynamic Analysis of Spatial Linkages: A Recursive Approach

  • Hazem Ali Attia


In this paper, recursive equations of motion of spatial linkages are presented. The method uses the concepts of linear and angular momentums to generate the rigid body equations of motion in terms of the Cartesian coordinates of a dynamically equivalent constrained system of particles, without introducing any rotational coordinates and the corresponding rotational transformation matrix. For the open-chain system, the equations of motion are generated recursively along the serial chains. Closed-chain system is transformed to open-chain by cutting suitable kinematic joints and introducing cut–joint constraints. An example is chosen to demonstrate the generality and simplicity of the developed formulation.


Dynamic analysis Equations of motion Recursive formulation Spatial motion Mechanisms Machine Kinematics 


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Copyright information

© Springer 2005

Authors and Affiliations

  • Hazem Ali Attia
    • 1
  1. 1.Department of Mathematics, College of ScienceKing Saud UniversityBuraidahKSA

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