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New Trends in Mechanism and Machine Science pp 345–354Cite as

Motion Equation of Linkages with Changeable Close Loop

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Part of the book series: Mechanisms and Machine Science ((Mechan. Machine Science,volume 24))

Abstract

It is know that the dynamical analysis of a linkage is usually carried out by Lagrange-Euler equation in the theory of mechanic and mechanism. This method is allowed to take into account effects connected with the inertia, Coriolis, centrifugal and gravitational forces. All of listed factors are especially important due to the intensive working conditions of the most of modern machinery. Due to the wide functionality of linkages and their reliability and durability, they are widely used. However, the complex scheme of a multi-lever linkage makes accurate solution of dynamical problem difficult. Using the homogeneous transformation in Denavita-Hartenberg notation leads to the compact matrix form of the dynamical model. The algorithm and programs for the studied linkage are based on the proposed model. An actuator of a lifting machine is used as illustrative example.

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References

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Author information

Authors and Affiliations

  1. Omsk State Technical University, Omsk, Russia

    E. Gebel

Authors
  1. E. Gebel
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Correspondence to E. Gebel .

Editor information

Editors and Affiliations

  1. Mechanical Engineering Department, University of Minho, Guimaraes, Portugal

    Paulo Flores

  2. Structural and Mechanical Engineering, University of Cantabria, Santander, Spain

    Fernando Viadero

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© 2015 Springer International Publishing Switzerland

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Gebel, E. (2015). Motion Equation of Linkages with Changeable Close Loop. In: Flores, P., Viadero, F. (eds) New Trends in Mechanism and Machine Science. Mechanisms and Machine Science, vol 24. Springer, Cham. https://doi.org/10.1007/978-3-319-09411-3_37

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  • DOI: https://doi.org/10.1007/978-3-319-09411-3_37

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-09410-6

  • Online ISBN: 978-3-319-09411-3

  • eBook Packages: EngineeringEngineering (R0)

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