Abstract: This paper presents a finite element approach of multibody systems using the special Euclidean group SE(3) framework. The development leads to a compact and unified mixed coordinate formulation of the rigid bodies and the ...

Abstract: The inverse dynamics of flexible multibody systems is formulated as a twopoint boundary value problem for an index3 differentialalgebraic equation (DAE). This DAE represents the equation of motion with kinematic and ...