A recursive subsystem synthesis method for repeated closed loop structure in multibody dynamics

A recursive subsystem synthesis method has been proposed for efficient analysis for a repeated closed loop structure in multibody dynamics. Virtual work form of equations of motion has been used to reduce subsystem equations of motion. Position, velocity, and acceleration analyses are carried out subsystem by subsystem in the forward recursive fashion. Effective mass matrices and force vectors are computed subsystem by subsystem in the backward recursive fashion. An excavator example is used for a repeated closed loop structure to validate the proposed method.