Analytical mechanics approaches in the dynamic modelling of Delta mechanism

Abstract

SUMMARYThe increasing importance of computational models for the design of complex mechanical systems raises a discussion on defining some criteria for the selection of adequate modelling methods. This paper aims to contribute to such discussion from an educational point of view. By choosing the Delta parallel mechanism as a typical representative of multi-body mechanical systems, four approaches – one based on the Principle of Virtual Work, two based on Lagrange's formalism, and one based on Kane's formalism – are analysed from the perspective of modelling procedures. Finally, inverse dynamic simulations are carried out along with qualitative comparisons of the considered approaches.