Authors: Do Dang Khoa, Hanoi University of Science and Technology, Phan Dang Phong, National Research Institute of Mechanical Engineering, Do Sanh, Vietnam Mechanics Society

Published in: The 10th National Conference on Mechanics – Volume X. Dynamics and Control

Published date: Hanoi, December 8-9, 2017

Abstract.  The problem of determining the internal force state in moving links is one of the difficult problems; it is an inverse problem, usually determined after determining the motion state (acceleration state of the link), and to determine them, D'Alembert's principle (Kinetostatic method) is often used. In this paper, the authors have used the transfer matrix method for the posed problem and have developed an effective processing route that can be extended to complex systems with the aid of specialized computer software such as Maple, Matlab… The paper uses the transfer matrix method and a proposed form of equation to handle the problem for each individual case. This provides a basis for solving the internal force state for complex cases: multi-link chains (planar and spatial), and importantly, the ability to determine the internal force state for semi-closed semi-open chains, closed kinematic chains, etc., which are chains constrained by constraint equations due to the inability to select independent coordinates.

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