Modjtaba Ghodoussi

Learn More
This paper discusses a general and systematic computational scheme of the inverse dynamics of closed-link mechanisms. The scheme works even for multi-loop closed-link mechanisms. I t is derived by using the d’Alembert’s principle and obtained without computing the Lagrange multipliers. To account for the constraints, only the Jacobian matrix of the passive(More)
A general and systematic computational scheme of the dynamics of closed link mechanisms is proposed. This scheme works even for multi-loop closed link mechanisms. It is derived by using d'Alembert's principle and obtained without computing the Lagrange multipliers. To account for the constraints, only the Jacobian matrix of the function which represents the(More)
  • 1