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This paper presents a procedure for automated kinematic solution of constrained multibody systems such as complex mechanisms possessing low or high degree of complexity. The method utilizes the properties of constrained mechanisms which relate the kinematic characterestics of the individual links to those of the respective input link. The procedure developed is non iterative in nature and non graphical therefore can be conveniently programmed and executed on a minicomputer. An example illustrating the concepts of the method is presented. The acceleration analysis is executed on the basis of the auxiliary acceleration pattern corresponding to constant angular speed of the alternative input link. The results are compared with those obtained by using two different graphical methods. INTRODUCTION The traditional approach for the kinematic solution of plane or space mechanisms involves the sequential application of the relative velocity and relative acceleration equations. However, a mechanism which can not be solved by this method directly is referred as a complex mechanism [1]. A characterestic feature of complex mechanism is the existence of a multipaired floating link with at least three moving links as shown in Fig.l. Moreover, the complex mechanism is classified as a mechanism with low degree of complexity if only one radius of curvature of its terminal points is not known, otherwise the mechanism has high degree of complexity. There are many graphical methods for the-kinematic solution of complex linkage such -as the technique presented by Rosenauer and Willis [2]. Hall [3] utilized the concept of auxiliary points for both velocity and acceleration diagrams. Goodman [4] showed that the principle of kinematic inversion can be used for the * Associate Professiarl Departement of Mechanics and Elasticity, Military Technical tokiege, Cairo, Egypt. 1 DY.-4 , 304 — FOURTH ASAT CONFEREUCE 14-16 May 1991. CAIRO

KINEMATIC ANALYSIS OF COMPLEX MECHANISMS BY THE METHOD OF MULTIBODY SYSTEMS