In this thesis, the inverse kinematics and kinetics of various
mechanical systems are solved. The examined systems are three pendulum
robots with a degree of freedom of n=1 or n=2, whereby the two more complex
systems are compared to each other, a spring-mass-damper-system with n=3,
and an active suspension system for a rigid-body model with n=4. The
movements are predefined for the respective systems, the backward
transformation then enables the determination of the necessary actuation
parameters to generate the desired movement. With the drive variables used
again in the equations of motion, the systems can be simulated numerically.
The simulation results are then compared with the target values and
deviations are discussed. Numerical simulations are performed with the
programs Matlab and Maple and the results are compared with each other in
order to estimate numerical influences. It is shown that a system with one
rotational joint and one sliding joint is able to follow the given
movements more accurate a than one with two rotational joints. One of the
pendulum robots has the structural shape of a double pendulum, which
results in the problem that there are two possible joint positions for
almost every point of the given path. However, this does not lead to any
problems with this model in this work. In three systems, the natural
frequencies are calculated analytically or numerically and occurring
oscillations are discussed. With the inverse kinetics of the last example,
a problem occurs that for only two of the four generalized coordinates a
suitable target specification can be formulated directly. A way must be
found to find suitable target specification for the other ones.