On the use of Maggi's equation in the dynamic modeling of multibody systems

Abstract

The purpose of dynamic modeling of multibody mechanical systems is to obtain the differential equations of motion. Maggi's equation appears as an alternative to obtain the differential equations of motion. The aim of this work is to illustrate the advantages of the use of Maggi's equation in the dynamic modeling of multibody mechanical systems. Maggi's equation is used to model the dynamics of a classical complex constrained mechanical system. An inverse dynamics simulation is performed, to illustrate how the obtained equations can be used to determine the theoretical time series of the torques required to perform a given prescribed trajectory. Copyright © 2020 Arthur Horn, et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.