Abstract

A package of computer programs for spatial kinematic chains (with rigid bodies) equations of motion generation has been developed. It can be used in biomechanics for modelling, if the investigated object is of an open chain structure. Next version of the package will permit to model objects both of tree structure type and with closed loops. As a base, the Lagrange equations of second order have been chosen because of the easy adoption of the Lagrange formalism to computer equations of motion derivation. All programs are written in FORTRAN and implemented on IBM PC computer. No special symbolic operation languages were used. In effect, on the base of kinematic scheme and inertial properties of the bodies creating investigated system, one can obtain a ready to compile procedure containing the right sides of the equations of motion. This subroutine, together with subprogram for solving a set of differential equations, create the main part of simulation program. Special programs for graphic presentation of the simulation results were developed, too. Verf.-Referat