1 Motion Analysis - Theory

We identify a kinematic analysis, as a study which only considers the geometries and
the constraints of a machine, with no regard of the forces, torques or masses of the system.
A dynamic analysis studies the system, while considering the driving forces, torques,
and masses of the system. Before discussing the methods of performing such studies, lets
clarify some main definitions.

1.1 Inputs and outputs of a system

The systems we study in motion analysis are real life machines which are driven by actuators, and which produces desired motion. The inputs of the system are the degrees of
freedom (DOF) related to actuation. Consider a motor driving a gear pair. Lets take the
gear pair as the mechanism. The inputs to the system for the purposes of a kinematic
study are the motor acceleration, angular speed, and motor shaft angle. For a dynamic
study the input is the torque produced by the motor. The outputs of the system would
be the output gear speed, rotation angle and acceleration.

1.2 Four problems in motion studies

In general, motion analysis of mechanisms are classified in to four problems.
Forward kinematics This analysis is concerned with finding the output kinematic variables
by using the known quantities of input kinematic variables to the system.
Inverse kinematics The inverse kinematic problem attempts to find the input kinematic
variables by using the known quantities of the output kinematic variables.
Forward dynamics The forward dynamics problem attempts to find the output kinematic
variables of the system by using the known quantities of the input forces to the
system.
Inverse dynamics The inverse dynamics problem attempts to find the input forces/torques
of the mechanism for given known quantities of input kinematic variables.
The solution strategy for these four problems are introduced using the following example.

1.3 Example - The RR manipulator

1.3.1 Forward kinematics
Position analysis
For the forward position analysis the knowns are the input DOF 1 , 2 . The unknowns
are the output DOF x, y. The final end effector position is marked as x, y. Using vector
loop equations for the loop OAB we can find:

{2C}

m 2 I2
x,y

l2
2 2 2
{2A}

{1C}

1 1 1
{1A}

A m 1 I1

{WB}

1
O
{WA}

l1

Figure 1: The RR manipulator

rOA + rAB rOB = 0

rOB

 = rOA + rAB
l1 cos(1 ) + l2 cos(1 + 2 )
x
=
l1 sin(1 ) + l2 sin(1 + 2 )
y

(1)

Define the input DOF as q and output DOF as p. Then a general expression for the
forward position analysis equations can be written as:
p = f (q)

(2)

Velocity analysis: For the forward velocity analysis the knowns are the input DOF speeds
and positions 1 , 2 , 1 , 2 . The unknowns are the output DOF speeds x,
y.
The velocity
equations can be found by differentiating the position equations.
  

x
l1 sin(1 )1 l2 sin(1 + 2 )(1 + 2 )
=
(3)
y
l1 cos(1 )1 + l2 cos(1 + 2 )(1 + 2 )
This can be arranged in a convenient matrix form. Notice that a compact notation is used
for sines and cosines. ex: sin(1 ) = S1 , sin(1 + 2 ) = S12
  
 
x
l1 S1 l2 S12 l2 S12 1
=
(4)
y
l1 C1 + l2 C12
l2 C12
2

This can be expressed in a compact form by defining the matrix as Jv .

p = Jv q

(5)

Acceleration analysis: For the forward acceleration analysis the knowns are the input
DOF accelerations, speeds and positions 1 , 2 , 1 , 2 , 1 , 2 . The unknowns are the
output DOF accelerations x
, y. The acceleration equations can be found by differentiating
the velocity equations. This can be arranged in a matrix form as:
 

 
x

l1 S1 l2 S12 l2 S12 1
+
=
y
l1 C1 + l2 C12
l2 C12
2

 
(6)
l1 C1 1 l2 C12 1 l2 C12 2 l2 C12 1 l2 C12 2 1
l1 S1 1 l2 S12 1 l2 S12 2 l2 S12 1 l2 S12 2 2
p
= Jv q
+ Ja q

(7)

1.3.2 Inverse kinematics

Position analysis: For the inverse position analysis the knowns are the output DOF
positions x, y. The unknowns are the input DOF accelerations 1 , 2 . Apply cosine rule
to angle BOA, to find 1 . The solution for 2 is found by identifying an expression for
tan(1 + 2 ), using the equation set (1).


l12 +x2 +y 2 l22
1

1 = aT an2(y, x) cos
2l1 x2 +y 2
(8)
2 = aT an2(y l1 sin 1 , x l1 cos 1 ) 1
There are two solutions for the angles 1 , 2 , for a given position x, y.
B

x,y

-2

2
A
{1A}

1
O
{WA}

Figure 2: The two solutions for the inverse position analysis

-m2a2y

-m1a1y

Input (external) forces

internal forces
Inertial forces

-f12y
-12

-m2a2x
-I11
l2

-f12x -m1a1x
l1

12

01
f01x

-I22

f12x

2
1

f12y

f01y

Figure 3: FBD- link1 and 2

Velocity analysis: Rearrange the forward velocity analysis equations to find q when p is
known.
q = Jv1 p
(9)
Acceleration analysis: Rearrange the forward acceleration analysis equations to find q

when p
is known.
q
= Jv1 (
p Ja q)

(10)
1.3.3 Force analysis - Inverse dynamics
To perform a dynamic analysis first the free body diagrams for the two links are drawn
indicating all the forces.

The force balance equations applied to link 1:

f01x f12x m1 a1x = 0
f01y f12y m1 a1y = 0
01 12 I1 1 + f01x l1 S1 f01y l1 C1 = 0

(11)

The force balance equations applied to link 2:

f12x m2 a2x = 0
f12y m2 a2y = 0
12 I2 2 + f12x l2 S12 f12y l2 C12 = 0

(12)

The accelerations of all centers of gravity (COG) can be found using a forward acceleration
s
are replaced by , .
analysis for vector loops defined for rOA and rOB . Note that ,
  



a1x
l1 S1
l1 C1 1
=
1 +

(13)
a1y
l1 C1
l1 S1 1 1
 

 
a2x
l1 S1 l2 S12 l2 S12 1
=
+
a2y
l2 C12
2
 l1 C1 + l2 C12
 
(14)
l1 C1 1 l2 C12 1 l2 C12 2 l2 C12 1 l2 C12 2 1
l1 S1 1 l2 S12 1 l2 S12 2 l2 S12 1 l2 S12 2 2
For the inverse dynamics study all the input kinematic variables are known. i.e. 1 , 1 ,
1 , 2 , 2 , 2 . From forward acceleration analysis we also know a1x , a1y , a2x , a2y . The
set of unknowns for the inverse dynamics study are the input forces and the internal forces.
The vector of unknowns is identified as:

T
f01x f01y f12x f12y 01 12
(15)

T
= fi q
There are 6 equations and 6 unknowns which is
matrix form:

1
0
1
0
0
0
1
0
1
0

l1 S1 l1 C1
0
0
1

0
0
1
0
0

0
0
0
1
0
0
0
l2 S12 l2 C12 0

solvable. Arrange the equation in the

0
f01x
m1 a1x

0
f01y m1 a1y

1 f12x I1 1

0
f12y m2 a2x
0 01 m2 a2y
1

The solution can be found by matrix inversion:

 
f
A i =b
 q
fi
= A1 b
q

12

(16)

I2 2

(17)

1.3.4 Force analysis - Forward Dynamics

The forward dynamics study can be summarized using figure 4. For the forward dynamics
study all the input forces are known. i.e. 01 , 12 . A forward dynamic simulation applies
forces to a system which is at a initial configuration. Therefore, the initial conditions
of the integrators are known. i.e. 1 , 1 , 2 , 2 . The remaining kinematic variables
1 , 2 , a1x , a1y , a2x , a2y are unknown. Using the forward acceleration analysis equation
set (13) and (14), substitute out the variables a1x , a1y , a2x , a2y in the force balance
equations (11) and (12).

q =[1, 2]

..
q=[1, 2]

q=[1, 2]

Initial condition set

1, 2

q=[1, 2]

p=[x, y]

Initial condition set

1, 2

Figure 4: Dynamic simulation block diagram

Now the set of unknowns for the forward dynamics study are the accelerations of the input
DOF and the internal forces. The vector of unknowns is identified as:


f01x f01y f12x f12y 1 2


T

= fi q

T
(18)

There are 6 equations and 6 unknowns which is solvable. Arrange the equation in the
matrix form:

1
0
1
0
m1 l1 S1
0
f01x
0
f01y
1
0
1
m1 l1 C1
0

l1 S1 l1 C1
f12x
0
0
I
0
1

0
f12y
0
1
0
m
(l
S

l
S
)
m
(l
S
)
2
1
1
2
12
2
2
12

0
0
0
1
m2 (l1 C1 + l2 C12 )
m2 (l2 C12 ) 1
0
0
l2 S12 l2 C12
0
I2

2
m1 l1 C1 12

m1 l1 S1 12

01 + 12

=
m2 ((l1 C1 1 l2 C12 1 l2 C12 2 )1 + (l2 C12 1 l2 C12 2 )2 )

m2 ((l1 S1 1 l2 S12 1 l2 S12 2 )1 + (l2 S12 1 l2 S12 2 )2 )

12

The solution can be found by matrix inversion:

 
f
C i =d

 q
fi
= C1 d

(19)

(20)