An automated method for dynamic analysis of spatial linkages for biomechanical applications

N. A. Langrana, D. L. Bartel

Research output: Contribution to journalArticlepeer-review

11 Scopus citations


A computer-aided analysis procedure is developed to obtain biomechanical information for unassisted and assisted upper extremity systems. An automated assembly procedure is derived which determines the equations of motion for a linkage consisting of N links connected by ball and socket joints and/or pin joints. Springs may be attached between the links or between the links and ground. The major advantage of this procedure is that the lengthy and time-consuming derivations required to obtain the equations of motions using other methods are eliminated. The procedure automatically writes the equations of motion based on the input data alone. Changes in the linkage being analyzed require changes in input data; the basic program does not have to be modified. In particular the basic program does not depend upon the nature of the links or the types of joints.

Original languageEnglish (US)
Pages (from-to)566-574
Number of pages9
JournalJournal of Manufacturing Science and Engineering, Transactions of the ASME
Issue number2
StatePublished - May 1975
Externally publishedYes

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Mechanical Engineering
  • Computer Science Applications
  • Industrial and Manufacturing Engineering


Dive into the research topics of 'An automated method for dynamic analysis of spatial linkages for biomechanical applications'. Together they form a unique fingerprint.

Cite this