2016-11-1820101678-5878http://hdl.handle.net/10784/9682The calculation of forces in the kinematic pairs of mechanisms by inverse dynamics is usually performed without friction considerations -- In practice, when examination of articulated mechanisms takes into account friction, the solution of the inverse dynamics results in a complex procedure -- If a modular approach for the inverse dynamics is used, then exact solutions are available, but not necessarily are practical -- For example, the analytical solution for a second-class first-type Assur group is a 16th degree equation -- Previous researches proposed an approximated but practical (graphical) method to calculate the forces on the kinematic pairs taking into account the friction forces -- In this article, an analytical interpretation of the Artobolevski approximated method is developed for the second-class Assur group with three rotational pairs -- The final results for the reactions calculated with the implemented method present a good approximation with respect to the graphical solution -- Future work should consider friction forces not only in second-class groups with rotational joints, but also in second-class groups with prismatic joints and high-class Assur groupsapplication/pdfenginfo:eu-repo/semantics/openAccessinfo:eu-repo/semantics/articleMOVIMIENTOS MECÁNICOSESFUERZOS Y DEFORMACIONESACOPLAMIENTOS (MAQUINARIA)GRÁFICOS POR COMPUTADORMÉTODOS ITERATIVOS (MATEMÁTICAS)Strains and stressesMechanical movementsCouplingsComputer graphicsIterative methods (mathematics)Strains and stressesMechanical movementsCouplingsComputer graphicsIterative methods (mathematics)Pares cinemáticosSistemas CAD/CAMAnálisis cinetostáticoEnfoque modularSimulink (Programa para computador)Análisis cinemáticoAcceso abierto2016-11-18Durango, SebastiánCalle, GabrielRuíz, Oscar10.1590/S1678-58782010000300002