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Analytical mechanics approaches in the dynamic modelling of Delta mechanism

2014; Cambridge University Press; Volume: 33; Issue: 4 Linguagem: Inglês

10.1017/s026357471400054x

1469-8668

Renato Maia Matarazzo Orsino, Tarcisio Antonio Hess Coelho, Celso P. Pesce,

Manufacturing Process and Optimization

SUMMARY The increasing importance of computational models for the design of complex mechanical systems raises a discussion on defining some criteria for the selection of adequate modelling methods. This paper aims to contribute to such discussion from an educational point of view. By choosing the Delta parallel mechanism as a typical representative of multi-body mechanical systems, four approaches – one based on the Principle of Virtual Work, two based on Lagrange's formalism, and one based on Kane's formalism – are analysed from the perspective of modelling procedures. Finally, inverse dynamic simulations are carried out along with qualitative comparisons of the considered approaches.