Аннотация
Strength and stiffness assessment of rod mechanisms and robotic manipulators is commonly performed using finite element methods (FEM), while motion-induced inertia is often represented by resultant forces and moments applied at link centers of mass.This simplification is inherently approximate because inertial and gravitational forces are distributed along the link and depend on instantaneous kinematics.The main contribution of this paper is a systematic FEM-ready algorithm