This paper addresses both modeling and dynamics identification of planar multi-lever linkages with changeable close loop whose output link moves vertically. The equation of motion is derived in a symbolic form by means of the application of coordinate partitioning method on the basis of the Lagrangian equation of the second kind. The equation of motion of the mechanical system obtained through the use of Lagrange-Euler notations takes into account Coriolis, centrifugal and gravitational forces. Numerical experiment has confirmed the validity and correctness of the theoretical results and made it possible to determinate the oscillation amplitude and to evaluate the stiffness characteristics of the mechanical system.
Gebel, E. S. (2015). Mathematical modeling of dynamics of multi-lever linkages. In Procedia Engineering (Vol. 100, pp. 1562–1571). Elsevier Ltd. https://doi.org/10.1016/j.proeng.2015.01.529