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dc.contributor.authorFlores, Paulo
dc.contributor.authorLankarani, Hamid M.
dc.identifier.citationFlores, Paulo; Lankarani, Hamid M. 2016. Chapter 4 -- Multibody systems formulation, In: Contact Force Models for Multibody Dynamics by: Paulo Flores, Hamid M. Lankarani, ISBN: 978-3-319-30896-8, DOI:,Solid mechanics and Its applications, Springer, 2016, vol. 226:pp 53-91en_US
dc.descriptionClick on the DOI link to access the article (may not be free).en_US
dc.description.abstractThis chapter includes the main components necessary to formulate the dynamics of planar multibody systems. In this process, the fundamental issues associated with embryogenesis of multibody systems are presented. The main types of coordinates utilized in the formulations of general planar multibody systems are described. In addition, the fundamental characteristics of some relevant constraint equations are also presented in this chapter. Then, the key aspects related to the dynamic analysis of planar multibody mechanical systems are discussed. The formulation of multibody system dynamics adopted here uses the generalized absolute coordinates to derive the multibody system equations of motion. This formulation results in the establishment of a mixed set of ordinary differential and algebraic equations, which are numerically solved in order to predict the dynamic behavior of multibody systems.en_US
dc.publisherSpringer International Publishing AGen_US
dc.relation.ispartofseriesSolid mechanics and its applications;v.226
dc.subjectMultibody systemsen_US
dc.subjectCoordinate systemsen_US
dc.subjectKinematic constraint equationsen_US
dc.subjectDynamics equations of motionen_US
dc.titleChapter 4 -- Multibody systems formulationen_US
dc.typeBook chapteren_US
dc.rights.holder© Springer International Publishing AGen_US

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