An Automated Method for Dynamic Analysis of Spatial Linkages for Biomechanical Applications

[+] Author and Article Information
N. A. Langrana, D. L. Bartel

Cornell University, Ithaca, N.Y.

J. Eng. Ind 97(2), 566-574 (May 01, 1975) (9 pages) doi:10.1115/1.3438621 History: Received June 18, 1974; Online July 15, 2010


A computer-aided analysis procedure is developed to obtain biomechanical information for unassisted and assisted upper extremity systems. An automated assembly procedure is derived which determines the equations of motion for a linkage consisting of N links connected by ball and socket joints and/or pin joints. Springs may be attached between the links or between the links and ground. The major advantage of this procedure is that the lengthy and time-consuming derivations required to obtain the equations of motions using other methods are eliminated. The procedure automatically writes the equations of motion based on the input data alone. Changes in the linkage being analyzed require changes in input data; the basic program does not have to be modified. In particular the basic program does not depend upon the nature of the links or the types of joints.

Copyright © 1975 by ASME
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