A novel analytical solution method for constraint forces of the kinematic pair and its applications

Abstract

Constraint forces of the kinematic pair are the basis of the kinematics and dynamics analysis of mechanisms. Exploring the solution method for constraint forces is a hot issue in the mechanism theory fields. Based on the observation method and the theory of reciprocal screw system, the solution method of reciprocal screw system is improved and its solution procedures become easier. This method is also applied to the solution procedure of the constraint force. The specific expressions of the constraint force are represented by the reciprocal screw system of twist. The transformation formula of twist under different coordinates is given and it make the expression of the twist of kinematic pair more facility. A slider-crank mechanism and a single loop spatial RUSR mechanism are taken as examples. It confirms that this method can be used to solve the constraint force of the planar and spatial mechanism.