A complete dynamic analysis procedure to analyze elastic linkages is presented in this study. Forward and inverse dynamics techniques are developed for elastic linkages with revolute and prismatic pairs. The techniques utilize finite-line-element method in solving for the elastic displacements and system internal forces. The analysis procedure is applicable to multiloop and multidegree-of-freedom systems. The driving forces and torques may be functions of time, displacement, and/or velocity. In forward dynamic analysis, an integration procedure is developed to evaluate the system coordinate velocities and displacements. Numerical examples are presented to illustrate the analysis techniques and their features.

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