Two new methods for computer forming of dynamic equations of active mechanisms

Two new methods for setting dynamic equations of active spatial mechanisms are considered in this part of paper. The first section of this part presents a new version of the method based on Appel's equations. In contrast to the version of Popov and associates, this procedure may be applied to solving both problems: the calculation of accelerations and also the calculation of driving forces. The second section presents a procedure for forming dynamic equations via Lagrange's second-order equations; this procedure is fully adapted to iterative procedures for forming these models on a computer.