Dynamical Analysis of Joint Mechanism with Pin Joints and Visco-Elastic Connections

Dejan Popović

Dynamical analysis of the rigid body system for rehabilitation assistive devices synthesis i.e. medical robotics purposes is rewieved in this paper. The complexity of the mathematical model and necessity of the parameter modifications requires the general algoritham for numerical simulation. Here presented computing method involves the analysis of motion of the rigid body system connected with the pin joints and with first order visko-elastic link interactions.