On the Use of Instant Centers to Build Dynamic Models of Single-dof Planar Mechanisms

Instant centers’ (ICs’) locations of single-degree-of-freedom (single-dof) planar mechanisms depend only on the mechanism configuration. In single-dof mechanisms, ICs’ coordinates can be computed as a function of their generalized coordinate using a number of existing algorithms. Here, ICs are used to compute inertia forces and to build the dynamic model of these mechanisms by using two different dynamics formulations. The resulting dynamic models are novel and relate functional parameters (ICs locations) to the dynamic behavior and/or parameters of the mechanism. The last feature makes them useful tools for simultaneously imposing functional and performance requirements during design