Dynamic Modeling of a Sheep Hair Shearing Device Using RecurDyn and Its Verification

  • Sasanka Sekhar Sinha
  • Subir Kumar Saha
Conference paper
Part of the IUTAM Bookseries book series (IUTAMBOOK, volume 33)


This paper discusses a general procedure for creating a computer-aided design (CAD) model of an existing commercial sheep hair shearing device for simulation purpose. In this paper, simulation was carried out using the commercial software RecurDyn while the CAD models of the components of the device were created using SolidWorks software. Note that the mechanism in the device can be identified as an RCCR spatial four-bar linkage which was also modeled analytically from its kinematics point of view. The dynamic equations of motion were developed using the concept of the cut-joint approach and the Decoupled Natural Orthogonal Complement (DeNOC) matrices. The equations of motion were then used to simulate the mechanism in Matlab environment. The results were compared to those obtained using the CAD model in RecurDyn environment.


Sheep Wool Spatial Four-bar RCCR RecurDyn Lagrange multipliers 



The work presented in this paper was carried out under Project No. RP03164 at Indian Institute of Technology (IIT) Delhi in India. It was funded by the Central Wool Development Board of India. The objective of the project was “Dissemination of low-cost sheep hair shearing device by IIT Delhi.” The authors would like to thank the members of Rural Technology Action Group (RuTAG) IIT Delhi for their much-extended help and support.


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© Springer Nature Switzerland AG 2019

Authors and Affiliations

  1. 1.Indian Institute of Technology DelhiNew DelhiIndia

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