The SPACAR software is currently being developed at the Faculty of Engineering Technology, University of Twente, and is partly based on work carried out at the Laboratory for Engineering Mechanics, Delft University of Technology.
The computer program SPACAR is based on the non-linear finite element theory for multi-degree of freedom mechanisms as described in Jonker’s lecture notes on the Dynamics of Machines and Mechanisms 1). The program is capable of analysing the dynamics of planar and spatial mechanisms and manipulators with flexible links and treats the general case of coupled large displacement motion and small elastic deformation. The motion can be simulated by solving the complete set of non-linear equations of motion or by using the so-called perturbation method. The computational efficiency of the latter method can be improved further by applying modal techniques.