DYSPAM (DYnamics of SPAtial Mechanisms)

DYSPAM is a computer program, written in FORTRAN, for the analysis and simulation of the Kinematics, Statics, and Dynamics of spatial interconnected systems of bodies. The system may include both open kinematic chains, as typified by robot manipulators, and closed kinematic chains, as typified by automotive suspensions and general linkage machinery. DYSPAM automatically generates the differential equations of motion, using Lagrange’s form of d’Alembert’s Principle (Virtual Work). The program finds displacements, velocities, accelerations, joint reactions, motor torques, etc. for systems with multiple degrees of freedom which are subjected to user-supplied forces, and geometric constraints. A brief description is given of modelling techniques and of input/output procedures. The capability for post-processing (e.g. plotting) data produced by DYSPAM is provided so that users may utilize their own graphics hardware/software facilities. Interactive pre- and post-processors for DYSPAM, using personal computers, are available to simplify data input and to provide for graphics and animation.