Abstract

In this paper, graph-theoretic and virtual work methods are combined in a new formulation of the equations of motion for rigid and flexible multibody systems. In addition to extending the theory for existing graph-theoretic approaches, this new formulation offers two distinct improvements. First, the set of differential-algebraic dynamic equations are smaller in number than those obtained using conventional formulations. Secondly, the equations of motion for rigid and flexible multibody systems can be generated using a consistent graph-theoretic approach, thereby leading to an efficient and modular computer implementation.

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