Introduction to Dynamics#
Main problem types in mechanism and machine theory#
Kinematic analysis: Known positions, velocities, and accelerations in some degrees of freedom => Positions, velocities, and accelerations of the rest of degrees of freedom.
Direct dynamics problem (“Simulation”): Known forces and masses => Positions, velocities, and accelerations.
Inverse dynamics problem: Known masses, positions, velocities, and accelerations => Forces. Useful for example in robot trajectory control.
Where we are?#
Classification according to constraints#
The existence of more constraints normally implies harder-to-solve problems. Listed below in order of increasing complexity below, these are the kinds of problems we want to find out how to write their equations of motion:
Free rigid solids (🡆 The aim of this lesson 🡄):
Links in an open kinematic chain:
Links in a closed kinematic chain: