Gross-Motion Dynamic Response Analysis of Indeterminate Mechanisms by Matrix Displacement Method

A method of gross-motion dynamic response analysis of indeterminate space mechanisms, as well as indeterminate plane mechanisms with offsets of links, to specified input forces or torques, such as in mechanisms of automated systems, mechanical robots, and switching mechanisms, is presented. The method uses joint force analysis along with the matrix displacement-direct element method. Unknown motion of the mechanism as function of time is determined by the solution of equations of gross-motion as an initial value problem. The effect of small oscillations of a link about an equilibrium position is neglected. An indeterminate plane four-bar and the indeterminate Bennett mechanisms are analyzed as switching mechanisms in the numerical examples.