Generalized and Actual Constraint Forces in the Inverse Dynamic Analysis of Spatial Flexible Mechanical Systems

In this investigation, a procedure is developed for the determination of the actual system of constraint forces in spatial flexible mechanical systems. Expressions for the generalized reaction forces in terms of the constraint Jacobian matrices of the joints are presented. The effect of the elastic deformation on the actual reaction forces is also examined numerically using the spatial flexible multi-body RSSR mechanism that consists of a set of interconnected rigid and elastic bodies. The procedure described in this investigation can also be used to determine the joint torques in kinematically driven spatial elastic mechanism and manipulator systems.