Flexible Slider-Crank Dynamic Analysis by Means of Gauss’ Principle of Least Action

In this investigation the dynamics of a slider-crank with flexible links is analysed. Instead of the more widely adopted Euler beam model the geometry of this mechanism suggests the use of the Timoshenko beam. In fact, as it is well known, Timoshenko beam model takes into account both shear and rotary inertia. These effects cannot be neglected in beams with short lengths compared to section dimensions.The multibody dynamics formulation is based on the floating frame of reference formulation proposed by A. A. Shabana. The Timoshenko beam model is the one deduced by Davis et al. [7]. An element of novelty is the solution of multibody dynamics equations through the use of Udwadia-Phohomsiri equation based on the Gauss’ Principle of Least Action. The numerical efficiency of this approach will be compared with the method of coordinate partitioning usually adopted in these simulations.