Comparative Analysis of Different Analytic and Recursive Forward and Inverse Dynamic Formulations of Multibody Systems

Abstract

Analysis of multibody system dynamics (MBSD) is the topic that is relevant in almost all areas of mechanical engineering. Since the inception of the first formulation of the approach to solving MBSD in the 1960s, this field has been continuously developing. However, there is a lack of research on the topic of comparative analysis of the developed approaches. This paper considers the three main formulations and compares their effectiveness in analyzing the MBSD. The literature review is conducted to consider the conventional and novel approaches of the considered formulations. In order to implement the comparison of the formulations, the code will be developed using the Python programming language according to the algorithms and formulas discussed in the literature review. The developed framework will be accessible to generalized users and provide different multibody system dynamics formulations.