2. Multibody Dynamics

This chapter presents an overview of the basis for multibody dynamics. The best representation of an automated machine is analyzing it as a multibody system composed of rigid masses interacting through elastic elements and receiving external forces from different actuators. The first step in determining the dynamic equations is the definition of the kinematic equations. The basic concepts for defining the kinematic equations are position, velocity, and acceleration, and these terms are found using the concept of the generalized coordinate. The first part of this chapter defines the generalized coordinates, the definition of motion constraints, and the generalized velocities and accelerations. The chapter continues with the derivation of kinetic and potential energy and concludes with the Lagrange equation.