In this paper, a method of using multibodies as substructures to establish the dynamic equations of elastic multibody systems involving closed loops is put forward. Plane elastic linkage is divided into four typical substructures, and equations of free two-link dyad — the most general one among the four substructures — are derived. Also some examples of substuctures’ partitioning of mechanisms are given to show the present method’s advantages. By means of the present method, the number of system’s constraint equations can be greatly reduced, and it will facilitate solving dynamic equations on a microcomputer.

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