Application of D’Alembert’s principle for determination of dynamic bearing reactions in joints of spatial linkages and parallel manipulators needs the simultaneous solution of a large system of equations. The authors of this paper propose an approach that is a combined application of principle of virtual work and D’Alembert’s principle. The main advantages of the proposed approach are: (1) reduction of the number of equations that have to be solved simultaneously, and (2) simplification of the expressions for the relative virtual velocity. The proposed approach is illustrated with the example of a 7-bar linkage and its application is explained with the crank-slider linkage.

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