An innovative joint-space explicit dynamics symbolic computation model for closed-chain mechanisms

In this article, an innovative joint-space explicit dynamics symbolic computation model for closed-chain mechanisms is proposed, which greatly reduces the symbolic and numerical complexity. This study is developed based on our previous work on the explicit dynamics model of tree-chain. The closed-chain mechanism problem is decoupled into a tree-chain problem by using the method of simplified system dynamics, and then the kinematic con-straint equation and constraint force equation of the closed-chain are derived based on Axis-Invariant, which greatly simplifies the establishment and solution of the kinematic constraint equation and constraint force vector. The correctness and universality of the proposed method are verified by two common closed-chain mechanisms by comparison using ADAMS software. The advantage of the proposed method lies in the fact that the modeling and solution complexity can be greatly reduced, which is analyzed by compari-son with Stefan Staicu's method.(c) 2022 Elsevier Inc. All rights reserved.