Multibody dynamics formulation

Research output: Chapter in Book/Report/Conference proceedingChapter

1 Scopus citations


In this chapter, a methodology for automatic generation of the equations of motion for rigid multibody systems is reviewed. The methodology is based on two formulations: body-coordinate formulation that uses Newton-Euler equations; and joint-coordinate formulation that employs relative coordinates. A systematic transformation process from the body into the joint-coordinate formulation is described. This methodology provides an effective and efficient formulation for constructing the equations of motion for multibody systems, in general, and for robotic devices in particular. A simple example is provided to demonstrate the implication of the methodology. In the final section, a list of some available commercial and free multibody dynamic software is presented.

Original languageEnglish (US)
Title of host publicationMechanisms and Machine Science
PublisherSpringer Netherlands
Number of pages20
StatePublished - 2012

Publication series

NameMechanisms and Machine Science
ISSN (Print)2211-0984
ISSN (Electronic)2211-0992

ASJC Scopus subject areas

  • Mechanics of Materials
  • Mechanical Engineering


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