Constrained Multibody Dynamics Library Within EASY5

Abstract

Nonlinear multibody dynamics of a constrained mechanical system has been merged into the Boeing EASY5 Engineering Analysis System. This merger completnents EASY5 control modeling and analysis with nonlinear multibody dynamics. The merged tool creates an environtnent for controls and nonlinear dynamics simulation within a single package. It is capable of time simulation with a high-fidelity nonlinear dynamic model, and is also capable of frequency- domain analysis after the model has been linearized at a selected configuration within the EASY5 environment. It can significantly cut down the time reguired in converting models between dynamics and control packages. This merged package has been successfully implemented and applied to various applications.

Keywords

multibody dynamics recursive formulation robotic manipulator control analysis

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