Analytical and experimental studies of the dynamics of variable topology systems

Mechanical systems with time-varying topology appear frequently in various applications. The nature of topology transition is a key characteristic in the performance of such systems. In this paper, a concept to decouple kinematic and kinetic quantities at the time of topology transition is used. This approach relies on the use of impulsive bilateral constraints and it is a useful tool for the analysis of energy redistribution and velocity change when these constraints are suddenly established. Based on this concept, two examples of systems with time-varying topology are analyzed: a bipedal walking system and a dual-pantograph robotic prototype interacting with a stiff environment. Detailed numerical and experimental analysis to gain insight into the dynamics and energetics of topology transitions is presented.