AN ENERGY-SOURCES AND FRACTIONS APPROACH TO THE MECHANICAL ENERGY-EXPENDITURE PROBLEM .2. MOVEMENT OF THE MULTILINK CHAIN MODEL

The energy balance equations, i. e. the relations between the powers of the sources and the time rate of change of the total energy of the links are obtained. It is shown that the action of joint forces can promote energy transfers between links and energy transformations of the energy fractions of the links but it cannot change the total energy of the system. A formula for the mechanical energy expenditure for the control moments is deduced. 'External' and 'internal' energy is the energy of the links in the motion relative to the general center of mass. It is shown that 'external' and 'internal' work depend on each other and their sum is not equal to the mechanical energy expenditure which occurs during movement of the body. This is because of the possibility of some source powers to change the external and internal energy of the system simultaneously out of phase with each other.