In the automotive industry, electrical and electromechanical components and systems become more and more important. In comparison with commonly used mechanical and hydraulic systems they offer a large number of advantages with respect to efficiency and flexibility, for example. Therefore, conventional hydraulic steering systems are being replaced more and more with electromechanical ones. Curre...

The object-oriented modeling language Dymola allows the physical modeling of large interconnected systems based on model components from diierent engineering domains. It generates symbolic code for diierent target simulators. In this paper, a Dymola class library for the eecient generation of the equations of motion for multibody systems is presented. The library is based on an O(n) algorithm w...

We present an efficient variational integrator for simulating multibody systems. Variational integrators reformulate the equations of motion for multibody systems as discrete Euler-Lagrange (DEL) equation, transforming forward integration into a root-finding problem for the DEL equation. Variational integrators have been shown to be more robust and accurate in preserving fundamental properties ...

Abstract The Kalman filter algorithm estimates variables of linear systems combining information from real sensors and a mathematical model the system. It may be applied to observe nonlinear by means linearization system model. Multibody dynamics constitutes methodology for analysis design mechanical systems. During last twenty years, many ways employing multibody as have been explored. This pa...

In the design and analysis of multibody dynamics systems, sensitivity analysis is a critical tool for good design decisions. Unless efficient algorithms are used, sensitivity analysis can be computationally expensive, and hence, limited in its efficacy. Traditional direct differentiation methods can be computationally expensive with complexity as large as O(n4 + n2m2 + nm3), where n is the numb...

Simple or complex systems characterized by large relative motions between its components find in the multibody dynamics formalisms the most general and efficient computational tools for their analysis. Initially restricted to the treatment of rigid bodies, the multibody methods are now widely used to describe the system components deformations, regardless of their linear or nonlinear nature. Th...

There has been a growing interest in the development of new and e cient algorithms for multibody dynamics in recent years. Serial rigid multibody systems form the basic subcomponents of general multibody systems and a variety of algorithms to solve the serial chain forward dynamics problem have been proposed. In this paper, the economy of representation and analysis tools provided by the spatia...

This work deals with a methodology to assess the influence of the spherical clearance joints in spatial multibody systems. The methodology is based on the Cartesian coordinates, with the dynamics of the joint elements modeled as impacting bodies and controlled by contact forces. The impacts and contacts are described by a continuous contact force model that accounts for geometric and mechanical...