Abstract :
The problem of synthesis of dynamically decoupled systems of rigid bodies is considered. A critical review of the known works in this field with the analysis of causes for erroneous theoretical results and practical recommendations is given. Known necessary and sufficient conditions of dynamical decoupling of tree-like systems of bodies with open branches are formulated. It is shown that, for the case where geometric constraints are imposed between the end bodies of the branches, these conditions are only sufficient, while the new necessary and sufficient conditions become weakened. Examples of the dynamical decoupling of systems of bodies with one and two cycles are presented. An example of a partial balancing and decoupling of motions of members in the actual electromechanical robot "Cobra" is given.
