The Generalized Coordinate Selection for the Dynamics of Complex Planar Mechanical Systems

This paper involves the most appropriate selection of the reference parameters (generalized coordinates) to develop the controlling equations for a large class of complex multi-degree of freedom planar mechanical systems. The selection of the reference parameter for the 1 DOF system is shown to be a simple matter since the modeling components can be transferred between reference parameters with a very simple set of equations. For multi-degree of freedom systems, the development of the controlling equations is shown to be direct as long as the structure is made up of two link Assur groups or dyads. The controlling equations remain transparent and therefore are ideal for treating the coupling and design questions for adjustable mechanisms as well as for robotic type systems.