FIRST INTEGRAL APPROACH TO NONLINEAR MOTION ANALYSIS OF A 2-LINK SYSTEM

In this paper we discuss the non-linear motion of a conservative two-l ink system based on first integrals. In the analysis of the motion, th e constant of the first integral plays an important role. First, we sh ow that the free motion can be classified into two types by investigat ing the integral constant. The one is oscillation and the other is rot ation. We also show that the forced motion actuated at the second join t can be expressed schematically as a variation of the integral consta nt. Also, the dynamic characteristics of the forced motion are present ed based on the proposed analytic approach. This analytic approach may be applied to similar non-linear dynamical systems which have the fir st integrals. (C) 1996 Elsevier Science Ltd.