Optimization of holonomic as well as non-holonomic multi body systems is presented as a nonlinear programming problem that can be solved with general-purpose optimization codes. The adjoint variable approach is used for calculating design derivatives of a rather general integral type performance measure with respect to design parameters. The resulting equations are solved by numerical integrati...

Initial transient oscillations inhibited in the dynamic simulations responses of multibody systems can lead to inaccurate results, unrealistic load prediction, or simulation failure. These transients could result from incompatible initial conditions, initial constraints violation, and inadequate kinematic assembly. Performing static equilibrium analysis before the dynamic simulation can elimina...

In many mathematical models of physical phenomenons and engineering fields, such as electrical circuits or mechanical multibody systems, which generate the differential algebraic equations (DAEs) systems naturally. In general, the feature of DAEs is a sparse large scale system of fully nonlinear and high index. To make use of its sparsity, this paper provides a simple and efficient algorithm fo...

This paper presents an application to robotics modeling of the multibody free software MBDyn in its real-time variant. Real-time simulation of robots is usually carried on using dedicated software because of the stringent requirements in terms of solution time for each time step. The real-time variant of the general-purpose multibody simulation software MBDyn originated from the need to share a...

In this work, a tail rotor is modelled with the aid of multibody software to provide an alternative tool in field helicopter research. This advanced application captures complex behaviour dynamics. The model has been built by using VehicleSim (Version 1.0, Mechanical Simulation Corporation, Ann Arbor, MI, USA) specialized modelling mechanical systems composed rigid bodies. dynamic and control a...

We introduce precomputed multizone elastokinematic models for interactive simulation of multibody kinematic systems which include elastostatic deformations. This enables an efficient form of domain decomposition, suitable for interactive simulation of stiff flexible structures for real time applications such as interactive assembly. One advantage of multizone models is that each zone can have s...