Efficient Dynamic Simulation of Simple Closed-Chain Mechanisms

Simple closed-chain mechanisms are an important subset of multiple chain robotic systems. Many different robotic systems may be modelled as simple closed-chain mechanisms including multiple manipulators cooperating to move a common load, a dexterous hand using its fingers to manipulate an object, and multilegged vehicles. These systems all share the same basic structure, characterized by a group of actuated chains all supporting a common reference member. Naturally, the real-time dynamic simulation of these mechanisms is even more difficult than for a single closed chain. Fortunately, it is possible to extend many of the concepts used in solving the single closed chain simulation problem to this more complex case.