Planar Multibody Systems

  • John M. Hansen
Part of the CISM International Centre for Mechanical Sciences book series (CISM, volume 511)


The first three chapters given here are actually divided into two logical parts: Chapter 1–2 and Chapter 3. The first two chapters introduce the general analysis methods and notation used in most of the remaining chapters, including the concept of Cartesian coordinates. It is therefore recommended to read these chapters first. The chapters are divided into the four components: Planar kinematics, planar dynamics, spatial kinematics, and spatial dynamics. It does, however, only treat systems of rigid bodies; in later chapters it is shown how the methods can be expanded to deal with flexible bodies. The notation used here is strongly based on the one found in (Nikravesh, 1988).


Rigid Body Constraint Equation Jacobian Matrix Revolute Joint Single Force 
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  1. Garcia de Jalon, J. and Bayo E. Kinematic and Dynamic Simulation of Multibody Systems. Springer-Verlag New York, 1994.Google Scholar
  2. Nikravesh, P.E. Computer-Aided Analysis of Mechanical Systems. Prentice-Hall, New Jersey, 1988.Google Scholar

Copyright information

© CISM, Udine 2009

Authors and Affiliations

  • John M. Hansen
    • 1
  1. 1.MAN Diesel SECopenhagen SVDenmark

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