Introduction
The systematic treatment of the dynamic behavior of interconnected bodies has led to a large number of important multibody formalisms in the field of mechanics. The simplest bodies or elements of a multibody system were treated by Newton (free particle) and Euler (rigid body). Euler introduced reaction forces between bodies. Later, a series of formalisms were derived, only to mention Lagrange’s formalisms based on minimal coordinates and a second formulation that introduces constraints.
Basically, the motion of bodies is described by their kinematic behavior. The dynamic behavior results from the equilibrium of applied forces and the rate of change of momentum. Nowadays, the term multibody system is related to a large number of engineering fields of research, especially in robotics and vehicle dynamics. As an important feature, multibody system formalisms usually offer an algorithmic, computer-aided way to model, analyze, simulate and optimize the arbitrary motion of possibly thousands of interconnected bodies.
Read more about this topic: Multibody System
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