Abstract
This paper describes a method to systematically calculate forward dynamics of planar closed-loop mechanisms. Analytical equations to obtain the acceleration coefficients of joints on a crank, two adjacent links and a coupler link are derived. After solving a system of linear equations with respect to crank accelerations and joint forces, nonlinear differential equations on the mechanism could be solved with a numerical method. Forward dynamics of a planar 4-bar link mechanism and 5-bar link mechanisms with 2DOF were analyzed, it was then confirmed that the proposed method was effective and useful.
