Advances in computational methods for multibody system dynamics

This paper presents a summary of recent developments in computational methods for multibody dynamics analyses. The developments are presented within the context of an automated numerical analysis. The intent of the paper is to provide a basis for the easy development of computational algorithms. The principal concepts discussed are: differentiation algorithms, partial velocities and partial angular velocities, generalized speeds, Euler parameters, Kane's equations, orthogonal complement arrays, lower body arrays and accuracy testing functions.