The mechanical systems discussed in this book are collections of rigid bodies connected by translational and torsional spring, damper and friction elements, and by joints, links, bearings and gear boxes, in which some or all of the bodies can move relative to each other. They may be driven by external forces or torques to achieve specified performance requirements as well as desired loading and operation conditions. They are called rigid-body systems or mechanisms. A rigid body is defined as an assembly or particles that do not move relative to each other. This means in reality that “deformations of rigid bodies” have no significant influence on the gross body motion. Rigid bodies of mechanisms move relative to each other consistent with the joints that limit their relative motion. Simultaneous large displacements and rotations of these bodies lead to nonlinear model equations with geometric nonlinearities that in most cases must be solved numerically.
KeywordsRigid Body Parallel Robot Double Pendulum Model Parameter Identification Linear Model Equation
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