Numerical Kinematical Analysis of the Articulated Quadrilateral Mechanism

Abstract

Abstract The paper presents a numerical method of kinematical analysis of the articulated quadrilateral mechanism. Starting from Euler’s relation concerning the distribution of speeds written in projections on the fixed reference system axes, a system of differential equations describing the movement of the mechanism was obtained. This system of differential equations was then solved using numerical integration methods and the variation with respect to time of the position kinematical parameters, of the velocities (the first order kinematical parameters), and of the accelerations (the second order kinematical parameters), was obtained. Matrix writing of the differential equations was used in order to make the differential equations set out in the paper easier to solve using the electronic computer.