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Keywords: Virtual Work
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Journal Articles

A Numerical Method for Position Analysis of Compliant Mechanisms With More Degrees of Freedom Than Inputs

Quentin T. Aten, Shannon A. Zirbel, Brian D. Jensen, Larry L. Howell
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Research Papers
J. Mech. Des. June 2011, 133(6): 061009.
https://doi.org/10.1115/1.4004016
Published Online: June 21, 2011
...: minimize the potential energy stored in the mechanism, subject to the mechanism’s vector loop equation(s) being equal to zero. The MinPE method agrees with the method of virtual work for position and force determination for underactuated 1-DOF and 2-DOF pseudorigid-body models. Experimental force...
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Topics: Compliant mechanisms, Degrees of freedom, Displacement, Finite element analysis, Potential energy, Equilibrium (Physics), Optimization, Deflection, Numerical analysis
Journal Articles

Solving the Inverse Dynamics of a Stewart-Gough Manipulator by the Principle of Virtual Work

Lung-Wen Tsai
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Technical Papers
J. Mech. Des. March 2000, 122(1): 3–9.
https://doi.org/10.1115/1.533540
Published Online: December 1, 1999
...Lung-Wen Tsai This paper presents a systematic methodology for solving the inverse dynamics of a Stewart-Gough manipulator. Based on the principle of virtual work and the concept of link Jacobian matrices, a methodology for deriving the dynamical equations of motion is developed. It is shown...
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Topics: Dynamics (Mechanics), Equations of motion, Jacobian matrices, Manipulators, Virtual work principle, Algorithms, Inertia (Mechanics)
Journal Articles

Numerical Computation of Differential-Algebraic Equations for Non-Linear Dynamics of Multibody Systems Involving Contact Forces

B. Fox, L. S. Jennings, A. Y. Zomaya
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Technical Papers
J. Mech. Des. June 2001, 123(2): 272–281.
https://doi.org/10.1115/1.1353587
Published Online: March 1, 1999
...B. Fox; L. S. Jennings; A. Y. Zomaya The well known Euler-Lagrange equations of motion for constrained variational problems are derived using the principle of virtual work. These equations are used in the modelling of multibody systems and result in differential-algebraic equations of high index...
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Topics: Algebra, Computation, Modeling, Multibody systems, Pendulums, Rollers, Trucks, Vehicles, Runge-Kutta methods, Aircraft