Dynamic analysis of mechanisms using mathematical model of compliant kinematic pairs.

This paper describes a new algorithm for dynamic analysis of mechanisms. Motion of a kinematic pair is modeled as that of a compliant mechanism supported by springs except its originally possible motion. The force and moment acting on each link are determined as functions of a deviation between two elements of each kinematic pair, and the motion of a link can be computed using the Runge-Kutta method. By this algorithm, it becoms possible to compute dynamic characteristics of a mechanism such as displacements, velocities, accelerations, etc., at the same time.