Abstract: This paper presents a method to study multibody system dynamics based on graph theory. The transfer function between any pair of bodies of nonhomogeneous multibody systems with arbitrary topology ...

Abstract: Flexible joints, sometimes called bushing elements or force elements, are found in all multibody dynamics codes. In their simplest form, flexible joints simply consist of sets of three linear ...

Abstract: This paper discusses the problem of control constraint realization applied to generic underactuated multibody systems. The conditions for the realization are presented. Focus is placed on the ...