Dynamics analysis of the Minuteman cover drive

Recursive matrix relations in kinematics and dynamics analysis of a 1-DOF compound planetary gear train are established in the paper. The mechanism of the Minuteman cover drive is a system with four moving links and three gear pairs controlled by one electric motor. Knowing the rotation motion of the output link, the inverse dynamic problem is solved using an approach based on the principle of virtual work, but it has been verified the results in the framework of the Lagrange equations. Finally, some simulation graphs for the input and output angles of rotation, the torque and the power of the actuator are obtained.