Dynamics and control of linkage mechanisms having two degrees of freedom

Abstract

The work described in this thesis concerns the dynamics and control of linkage mechanisms having two degrees of freedom. The work, basically, deals with three topics. The first concerns the derivation of equations of motion, their numerical solution and linearised analysis involving the studies of resonance and stability. The second concerns optimisation of a general planar linkage to generate a given output and also controlling some of the linkage inputs to generate an output more closely. The third concerns experimental investigations to check the validity of the numerical solutions and the linearised analysis.