Modular Inverse Dynamics and Wrench Recovery for Closed-Chain Mechanisms Using Path Assembly
The research developed a modular inverse-dynamics workflow combining path reconstruction and physical balance to find unique actuator and joint-wrench outputs for rigid closed chains. It uses analytical differentiation of motion paths to find passive motions, followed by spatial Newton-Euler balances to recover forces. The method successfully recovers uniquely determined constraint wrenches while diagnosing nonunique reaction components.