Dynamic model of single-DOF spherical mechanisms based on instantaneous pole axes and Eksergian's equation

Instantaneous pole axes (IPAs) fully describe instantaneous kinematics of spherical mechanisms. In single-degree-of-freedom (single-DOF) mechanisms, IPAs' locations uniquely depend on the mechanism configuration. Such a property allows the deduction of instantaneous-motion characteristics by means of analytic techniques based on geometric features of the mechanism configuration. Moreover, these geometric/analytic approaches are extendable to mechanism's static analyses since the virtual work principle relates mechanism's statics to its instantaneous kinematics. Analytic approaches based on geometric reasoning are of interest in mechanism design and their further extension to dynamic analyses is appealing in that context. This work proposes a possible extension of IPA-based techniques to dynamic analyses of single-DOF spherical mechanisms by using Eksergian's equation. A novel general dynamic model for single-DOF spherical mechanisms is proposed, which is based on IPAs' locations. Then, the effectiveness of the proposed model is applied to a relevant single-DOF spherical mechanism.