Dynamic Analysis of Slider Crank mechanism and Two-Link Manipulator Using Constraint Technique

Document Type : Original Article

Authors

1 Military Technical College, M. Sc., Mechanical Engineering Department.

2 Military Technical College, Dr., Mechanical Engineering Department, corresponding author.

3 German University in Cairo, Prof. Dr., Head of Mechatronics Department.

Abstract

Abstract:
The important of the slider crank mechanism and two-link mechanism is that they are the key-player in many mechanical and structural systems. A family of joints in form of library to carry out kinematical and dynamical analyses of mechanical systems was introduced in earlier work by authors [1]. Joint programming package was designed employing the proposed joint library. In this paper, parametric investigations have been carried out on two different types of mechanisms, closed loop mechanism (slider-crank mechanism) and open loop mechanism (two-link manipulator) to illustrate their effects on the response of the systems. The proposed applications have been described based on the type of joints and the number of degrees of freedom of the mechanism. Based on Lagrange multipliers theorem, the dynamic and inverse dynamic analyses have been carried out to calculate the reaction forces.

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