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THE AIM OF THIS PAPER IS TO EXPLORE THE KINEMATICAL TRANSFORMERS TECHNIQUE, APPLYING IT TO A PLANAR PARALLEL ARMS WHEEL SUSPENSION OF A VEHICLE MODEL. ONE, OR MANY KINEMATICAL LOOPS, MAY CONSTITUTE A MECHANISM, DEPENDING ON ITS PARTICULAR SHAPE. IN THE SET OF MINIMAL INDEPENDENT LOOPS, EACH ELEMENT IS CALLED KINEMATICAL TRANSFORMER, AND SUCH A SET DESCRIBES THE TOPOLOGICAL STRUCTURE OF THE WHOLE MECHANISM, MAKING POSSIBLE ITS REPRESENTATION AS A BLOCK-DIAGRAM. IN THIS METHOD, THE PROBLEM IS REDUCED TO THE DETERMINATION IN EACH LOOP OF SUB-CHAINS BY MEANS OF ISOTROPY GROUPS, BASED ON GEOMETRICAL ELEMENTS, CREATING A SYSTEM OF SCALAR EQUATIONS DERIVED FROM ITS CLOSURE CONDITION. BASED ON THIS CONCEPT, THE DYNAMICAL EQUATIONS OF THE MECHANISM MAY BE ESTABLISHED IN A COMPACT FORM. SUCH A TECHNIQUE SHOWS GREATER COMPUTATIONAL EFFICIENCY WHEN COMPARED TO ITERATIVE TECHNIQUES.
KEY WORDS: KINEMATICAL-TRANSFORMER, DYNAMICS, SUSPENSION, MULTI-BODY, PLANAR-MECHANISM
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