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Multibody Dynamics of Closed, Open, and Switching Loop Mechanical Systems  

Youm, Youn-Gil (Department of Mechanical Engineering, Pohang University of Science & Technology)
Publication Information
Journal of Mechanical Science and Technology / v.19, no.spc1, 2005 , pp. 237-254 More about this Journal
Abstract
The vast mechanical systems could be classified as closed loop system, open loop system and open & closed (switching) system. In the closed loop system, the kinematics and dynamics of 3-D mechanisms will be reviewed and closed form solutions using the direction cosine matrix method and reflection transformation method will be introduced. In the open loop system, kinematic & dynamic analysis methods regarding the redundant system which has more degrees of freedom in joint space than those of task space are reviewed and discussed. Finally, switching system which changes its phase between closed and open loop motion is investigated with the principle of dynamical balance. Among switching systems, the human gait in biomechanics and humanoid in robotics are presented.
Keywords
Closed Loop System; Open Loop System; Multibody Dynamics;
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