ПОСТРОЕНИЕ УРАВНЕНИЙ ДИНАМИКИ ПЛОСКОГО ТРЕХЗВЕННИКА С ИСПОЛЬЗОВАНИЕМ БАЗИСНЫХ ФУНКЦИЙ ОБОБЩЕННЫХ КООРДИНАТ

Second order Lagrange equations are used for describing dynamics of planar mechanism with rotation joints. Kinetic energy quadratic form coeffi cients were represented by linear combinations of seven basic functions – trigonometric functions of the generalized coordinates. Coeffi cients at the basic functions determined from linear systems of equations representing the kinetic energy in seven mechanism confi gurations with nonzero values of one or two generalized velocities. Links kinetic energy calculation was using the local coordinates of the velocity vectors and recursive matrix transformations. The resulting system of dynamics differential equations is integrated numerically by Runge-Kutta method in software environment MathCAD. Effi ciency of the proposed method demonstrated by example of numerical solution the direct dynamic problem for three-links mechanism.