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Mechanical systems are generally classified as open-loop (serial and/or tree type) and closed-loop systems according to their architecture. In this chapter, a dynamic formulation for open-loop systems is presented first by considering rigid body as continuum to compute constraint wrenches, i.e., the reaction moments and forces at the joints.

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Dynamics of Open-Loop Systems

  • 章节

  • 发表日期：

    2025年

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  • Himanshu Chaudhary,
  • Subir Kumar Saha,
  • Vinay Gupta

摘要

Mechanical systems are generally classified as open-loop (serial and/or tree type) and closed-loop systems according to their architecture. In this chapter, a dynamic formulation for open-loop systems is presented first by considering rigid body as continuum to compute constraint wrenches, i.e., the reaction moments and forces at the joints.