Comparison of Simulation of Constrained Multibody Dynamics Using Relative and Absolute Coordinates

The process of development of mechanical systems, shown in Fig. 1, is an iterative process, starting from the requirement of users and finishing by a complete product. And during all this procedure we need to perform modelling and testing of developed parts. Fig. 1. V-scheme of product development The virtualisation of this process, i.e. the development and tests of computer models instead of real prototypes, has the following significantly advantages: • Decreased development cost. The building of real mechanical systems can be very expensive because the costs of the materials, assembling, starting-up and adjustment. Numerical simulation of virtual systems frees engineers from these procedures and significantly reduces the manufacturing costs. • Decreased development time. Usually the construction of prototypes is a long process, where many people and firms take part. Mechanical,