A finite element model is derived for flexible planar linkages, treating the total mechanism displacements as the primary unknowns in the dynamic equations of motion. These displacements consist of the combination of large rigid-body mechanism motion and small elastic deformations. Beam elements are used in the model formulation. The resulting nonlinear equations can be solved under conditions of either specified input motion of the mechanism or specified input forcing functions. In either case, the differential equations are integrated numerically. Illustrative examples are presented, and comparisons are made with results of previous investigators and with results from a commercial finite element code.

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