A note on planar kineto-elasto-dynamics (Q1115657)

Dynamic analyses of flexible linkages are generally performed by considering small displacements from a predefined reference configuration. A reference mechanism is commonly defined for this purpose. The definition of a reference mechanism is subjected to some restricting conditions which are analyzed here for planar articulated linkages. A second part of this note documents a simplified form of the equations of motion of flexible planar mechanisms. The virtual displacement is approximated in the same way as accelerations, when secondary terms are neglected. A comparison between experimental findings and results of numerical integrations shows that, in the present case- study, the introduced approximation only corresponds to a light stiffening of the mathematical model.