IFToMM Technical Committee for Multibody Dynamics homepage

Main menu


Name:Multibody Dynamics - Computational Methods and Applications

Author:Zdravko Terze



Description:By having its origin in analytical and continuum mechanics, as well as in computer science and applied mathematics, multibody dynamics provides a basis for analysis and virtual prototyping of innovative applications in many fields of contemporary engineering. With the utilization of computational models and algorithms that classically belonged to different fields of applied science, multibody dynamics delivers reliable simulation platforms for diverse highly-developed industrial products such as vehicle and railway systems, aeronautical and space vehicles, robotic manipulators, smart structures, biomechanical applications and nano-technologies. The chapters of this volume are based on the revised and extended versions of the selected scientific papers from amongst 255 original contributions that have been accepted to be presented within the program of the distinguished international ECCOMAS conference. It reflects state-of-the-art in the advances of multibody dynamics, providing excellent insight in the recent scientific developments in this prominent field of computational mechanics and contemporary engineering.

International Standard Number:978-3-319-07260-9


Name: New Trends in Mechanism and Machine Science - From Fundamentals to Industrial Applications

Author:Paulo Flores, Fernando Viadero



Description:This book compiles the most recent research results in mechanism science, intended to reinforce and improve mechanical systems in a variety of applications in daily life and industry. This book is published under the Machine and Mechanism Science series and addresses issues related to: Theoretical kinematics, Computational kinematics, Mechanism design, Experimental mechanics, Mechanics of robots, Dynamics of machinery, Dynamics of multibody systems, Control issues of mechanical systems, Mechanisms for biomechanics, Novel designs, Mechanical transmissions, Linkages and manipulators, Micromechanisms, Teaching methods, History of mechanism science, and Industrial and nonindustrial applications. EUCOMES 2014 received more than one hundred submissions, and after a rigorous review process by at least two reviewers for each paper, 100 papers were accepted for oral presentation at the conference and are included in this book. EUCOMES 2014 was the fifth event in a series that was started in 2006, under the Patronage of IFToMM, International Federation for the Promotion of Mechanism and Machine Science. The aim of the conference is to bring together European researchers, industry professionals, and students from the broad range of disciplines referring to Mechanism Science, in an intimate, collegial, and stimulating environment.

International Standard Number:978-3-319-09410-6


Name:Dynamics of Tree-type Robotic Systems

Author:Suril Vijaykumar Shah, Subir Kumar Saha, Jayanta Kumar Dutt




This book addresses dynamic modelling methodology and analyses of tree-type robotic systems. Such analyses are required to visualize the motion of a system without really building it. The book contains novel treatment of the tree-type systems using concept of kinematic modules and the corresponding Decoupled Natural Orthogonal Complements (DeNOC), unified representation of the multiple-degrees-of freedom-joints, efficient recursive dynamics algorithms, and detailed dynamic analyses of several legged robots.

The book will help graduate students, researchers and practicing engineers in applying their knowledge of dynamics for analysis of complex robotic systems. The knowledge contained in the book will help one in virtual testing of robot operation, trajectory planning and control.

Written for:

Researchers, engineers, graduate students in applied and computational mechanics


  • Dynamics

  • Kinematic modules

  • Legged robots

  • Multibody dynamics

  • Recursive algorithms

  • Tree-type robotic systems

International Standard Number:ISBN 978-94-007-5006-7


Name:Numerical multibody system dynamics: Rigid and flexible systems

Author:Evtim Zahariev

Publisher:Lambert Academic Publishing


Description:Modeling of the global motion of mechanical systems superimposed by large flexible deflections and small deformations are subjects that require special consideration. One of the main problems in the dynamics simulation of moving systems it is the precision of the dynamics equations. Novel generalized Newton – Euler dynamic equations for rigid and flexible bodies are proposed. Unified approach to simulation of rigid and flexible systems is developed. The dynamic equations are expressed with respect to the quasi – velocities and accelerations as for the flexible nodes so for the rigid bodies. The method is independent of the selection of the motion coordinates. The equations are compatible with every program system for Finite Element analysis and applicable as for absolute nodal coordinate formulation so for FE in relative coordinates. The novel methodology and approach to dynamics modeling of rigid and flexible systems considerably improves the precision of the simulation process and the reality of a virtual prototype. The book is devoted to scientists and engineers, as well as, to software developers dealing with the problems of mechanical system simulation, analysis and design.

International Standard Number:978-3659138027


Name:Dynamics and Balancing of Multibody Systems

Author:Himanshu Chaudhary, Subir Kumar Saha.




This monograph develops a unified methodology for dynamic analysis and minimization of the inertia-induced forces occurring in high speed multiloop planar as well as spatial mechanisms based on the multibody system modeling approach. Dynamic analysis is prerequisite for the dynamic balancing of mechanisms. The balancing of mechanisms is one of the crucial steps in design of high speed machinery and is a difficult one due to trade-off amongst various dynamic quantities, e.g., shaking force, shaking moment, bearing reactions, and driving torques/forces. Hence, it is essentially an optimization problem where various dynamic quantities are computed repeatedly.

Written for:

Researchers, engineers, graduate students in applied and computational mechanics

  • Balancing
  • Dynamic Analysis
  • Dynamic Balancing
  • Inertia Forces

International Standard Number:978-3-540-78178-3


Name:Multibody Dynamics, Computational Methods and Applications

Author:Bottasso, Carlo L. (Ed.)




About this book

This book presents a collection of fifteen high quality selected papers from the 2007 edition of the ECCOMAS Thematic Conference in Multibody Dynamics, which was held June 25-28 at the Politecnico di Milano, in Milan, Italy.


The purpose of this collection is to provide the international multibody dynamics community with an up-to-date view on the state of the art in this rapidly growing field of research which now plays a central role in the modeling, analysis, simulation and optimization of mechanical systems in a variety of fields and for a wide range of industrial applications.

The book will be of interest to engineers working on any one of the many aspects of modern multibody dynamics who want to be informed by some of the leading experts in the field on the principal research directions, recent achievements and the most challenging successful applications.

Written for:

Researchers from academia, industry and research centers, operating on all aspects of multibody dynamics, including theoretical and computational methods, and complex multidisciplinary applications.

International Standard Number:978-1-4020-8828-5


Name:Simulation Techniques for Applied Dynamics

Author:Martin Arnold, Werner Schiehlen




The coupling of models from different physical domains and the efficient and reliable simulation of multidisciplinary problems in engineering applications are important topics for various fields of engineering, in simulation technology and in the development and analysis of numerical solvers.


The volume presents advanced modelling and simulation techniques for the dynamical analysis of coupled engineering systems consisting of mechanical, electrical, hydraulic and biological components as well as control devices often based on computer hardware and software. The book starts with some basics in multibody dynamics and in port-based modelling and focuses on the modelling and simulation of heterogeneous systems with special emphasis on robust and efficient numerical solution techniques and on a variety of applied problems including case studies of co-simulation in industrial applications, methods and problems of model based controller design and real-time application.

International Standard Number:978-3-211-89547-4


Name:Elastic Multibody Dynamics: A Direct Ritz Approach

Author:Bremer, H.



Description:About this book

This textbook is an introduction to and exploration of a number of core topics in the field of applied mechanics:

On the basis of Lagrange's Principle, a Central Equation of Dynamics is presented which yields a unified view on existing methods. From these, the Projection Equation is selected for the derivation of the motion equations of holonomic and of non-holonomic systems.

The method is applied to rigid multibody systems where the rigid body is defined such that, by relaxation of the rigidity constraints, one can directly proceed to elastic bodies. A decomposition into subsystems leads to a minimal representation and to a recursive representation, respectively, of the equations of motion.

Applied to elastic multibody systems one obtains, along with the use of spatial operators,

a straight-on procedure for the interconnected partial and ordinary differential equations and the corresponding boundary conditions. The spatial operators are eventually applied to a RITZ series for approximation. The resulting equations then appear in the same structure as in rigid multibody systems.

The main emphasis is laid on methodical as well as on (graduate level) educational aspects. The text is accompanied by a large number of examples and applications, e.g., from rotor dynamics and robotics. The mathematical prerequisites are subsumed in a short excursion into stability and control.

Written for:

Graduate and postgraduate students in mechanical engineering, mechatronics, applied mathematics and physics; theoretical and applied mechanicians, applied mathematicians, practicing physicists, engineers in the field of dynamics and control.

International Standard Number:978-1-4020-8679-3


Name:Introduction to Robotics

Author:Subir Kumar Saha

Publisher:Tata McGraw Hill



A robot is formally defined in the International Standard of Organization (ISO) as a reprogrammable, multifunctional manipulator designed to move material, parts, tools or specialized devices through variable programmed motions for the performance of avariety of tasks. While today the major users of robots are the automobile giants, robots are also finding increasing applications in medical surgeries, mining and space explorations, and even at homes to take care of elderly people.


Introduction to Robotics is a book which aims to understand the underlying concepts used in designing and building a robot, and to make it work. There are a number of books available in the market which typically cater to either researchers working mainly on the analyses aspects of robots, e.g., kinematics, dynamics, control, etc., or practicing engineers interested in the feasibility study of using robots for particular applications, procurement of robots, their programming, economics, etc. In an undergraduate curriculum of Robotics, it is important that the students are exposed to both the aspects of analyses and applications. Hence, this book which covers both the aspects in a lucid manner. The material provided in this book can be used by practicing engineers as well for the purposes of adopting, maintaining, and even designing a robot. In fact, with manyexamples and exercises provided in this book, one can prepare himself or herself for any competitive examination having Robotics as a topic. This book is meant to cater to both the undergraduate (UG) and postgraduate (PG) level students for their courses on Robotics.

International Standard Number:0070669007


Name:Multibody Dynamics Computational Methods and Applications

Author:Juan Carlos Garcia Orden Jose M. Goicolea Javier Cuadrado (Eds.)



Description:The ECCOMAS Thematic Conference Multibody Dynamics 2005 was held in Madrid, representing the second edition of a series which began in Lisbon 2003. The conference was held under the auspicies of the European Community on Computational Methods in Applied Sciences ECCOMAS and provided a forum for discussion of several topics, through the participation of 161 researchers from 29 countries, mostly Europeans but also from Africa, America and Asia. This book contains the revised and extended versions of selected conference communications, representing the state-of-the-art in the advances on computational multibody models, from the most abstract mathematical developments to practical engineering applications. This book will be highly valuable for experienced researchers that want to keep updated on the details of the latest driving ideas in this field, but also to researchers approaching the field for the first time, since it provides a useful overview of the most active areas and the efforts devoted by many prominent research groups worldwide.

International Standard Number:ISBN-10 1-4020-5683-4


Name:Fundamentals of Multibody Dynamics

Author:F. Amirouche



Description:This textbook—a result of the author's many years of research and teaching—brings together diverse concepts of dynamics, combining the efforts of many researchers in the field of mechanics. Bridging the gap between dynamics and engineering applications such as microbotics, virtual reality simulation of interactive mechanical systems, nanomechanics, flexible biosystems, crash simulation, and biomechanics, the book puts into perspective the importance of modeling in the dynamic simulation and solution of problems in these fields.

  • numerous worked examples at the end of each section
  • introduction of boundary-element methods (BEM) in the description of flexible systems
  • up-to-date solution techniques for rigid and flexible multibody dynamics using finite-elements methods (FEM)
  • inclusion of MATLAB-based simulations and graphical solutions
  • in-depth presentation of constrained systems
  • presentation of the general form of equations of motion ready for computer implementation
  • two unique chapters on stability and linearization of the equations of motion
  • supplementary material and solutions manual available upon request
  • International Standard Number:ISBN 0-8176-4236-6


Name:Symbolic Modeling of Multibody Systems

Author:J. Samin, P. Fisette

Publisher:Kluwer Academic Publishers


Description:Modeling and analysing multibody systems require a comprehensive understanding of the kinematics and dynamics of rigid bodies. In this volume, the relevant fundamental principles are first reviewed ind detail and illustrated in conformity with the multibody formalisms that follow. Whatever the kind of system (tree-like structures, closed-loop mechanisms, systems containing flexible beams or involving tire/ground contact, wheel/rail contact, etc), these multibody formalisms have a common feature in the proposed approach, viz. the symbolic generation of most the ingredients needed to set up the model. The symbolic approach chosen, specifically dedicated to multibody systems, affords various advantages: it leads to a simplification of the theoretical formulation of models, a considerable reduction in the size of generated equations and hence in resulting computing time, and also enhanced portability of the multibody models towards other specific environments. Moreover, the generation of multibody models as symbolic toolboxes proves to be an excellent pedagogical medium in teaching mechanics.

International Standard Number:ISBN 1-4020-1629-8


Name:Flexible Multibody Dynamics

Author:M. Geradin, A. Cardona

Publisher:John Wiley & Sons, Inc.


Description:Flexible Multibody Dynamics comprehensively describes the numerical modelling of flexible multibody dynamics systems in space and aircraft structures, vehicles, and mechanical systems. A rigurous approach is followed to handle finite rotations in 3D, with a throrough discussion of the different alternatives for parametrization. Modelling of flexible bodies is treated following the Finite Element technique, a novel aspect in multibody systems simulation.
Features include different solution techniques such as:

  • time integration of differential-algebraic equations
  • non-linear substructuring
  • continuation methods
  • nonlinear bifurcation analysis

International Standard Number:ISBN 0-471-489990-5


Name:Computational Dynamics

Author:A. Shabana

Publisher:John Wiley & Sons, Inc.


Description:Computational Dynamics, Second Edition offers a full introduction to the concepts, definitions, and techniques used in multibody dynamics and presents essential topics concerning kinematics and dynamics of motion in two an three dimensions.
(...)this Second Edition begins with a discussion of classical techniques that review some of the fundamental concepts and formulations in the general field of dynamics. Next, it builds on these concepts in order to demonstrate the use of the methods as the foundation for the study of computational dynamics. Finally, the book presents different computational methodolgies used in the computer-aided analysis of mechanical and aerospace systems.

International Standard Number:ISBN 0-471-37144-0


Name:Multibody Dynamics With Unilateral Contacts

Author:F. Pfeiffer, Ch. Glocker

Publisher:John Wiley & Sons, Inc.


Description:From the book: "(...)In this book we consider multibody systems with multiple dependent contacts and develop an adequate theory. In spite of the fact that the theory covers a huge, and still growing, number of applications, it was not available in a form accesible to engineers. This book tries to fill this gap. Our intention is not to give another version of multibody system theory, but focus on multibody systems with multiple, unilateral, and, often, undecoupled contacts."

International Standard Number:ISBN 0-471-15565-9


Name:IUTAM / IFToMM Symposium on Synthesis of Nonlinear Dynamical Systems

Author:E. Lavendelis, M. Zakrzhevsky (Editors)

Publisher:Kluwer Academic Publishers



Proceedings ot the IUTAM / IFToMM Symposium held in Riga, Latvia, 24-28 August 1998

This book contains 30 full length papers presented at the IUTAM / IFToMM Symposium on Synthesis of Nonlinear Dynamical Systems held in Riga, Latvia in August 1998. The contributions are devoted to the synthesis and analysis of nonlinear dynamical systems, nonlinear wave dynamics, dynamics of MDOF nonlinear mechanical systems, ship and vehicle dynamics, dynamics of manipulators, nonlinear and chaotic oscillations, stability and control, bifurcation analysis, vibro-impact dynamics, nonlinear resonance drives, nonlinear rotor dynamics, vibro-mechanics and vibrotechnology, analysis and synthesis of plates, beams and shells, new analytical and numerical methods in nonlinear dynamics, and some specific applications of nonlinear dynamics. The volume gives a representative overview of recent progress in theory of nonlinear dynamical systems and its engineering applications and is a valuable reference for researchers in the very active field of nonlinear dynamics

International Standard Number:ISBN 0-7923-6106-7


Name:IUTAM Symposium on Unilateral Multibody Contacts

Author:F. Pfeiffer, Ch. Glocker (Editors)

Publisher:Kluwer Academic Publishers



Proceedings of the IUTAM Symposium held in Munich, Germany, 3-7 August 1998

This volume contains papers presented at the IUTAM Symposium on Unilateral Multibody Contacts. Multibody systems very often include phenomena like impacts, stick-slip or time variant kinematical loops which generate an unsteady behaviour of motion. Each of these unilateral phenomena alone leads already to more complexity in analizing the motion, the situation becomes worse if such processes take place in multiple contacts of a multibody configuration, especially if these contacts are not decoupled by some force laws, for example. For these cases the complementary properties of contact dynamics and as a consequence the application of complementarity algorithms allows the correct and consistent evaluation of the new constraint situation after each new contact event and avoids extensive combinational searches. The time-variant structure of such mechanical systems and thus the state-dependent change of the constraint combinations and the equations of motion afford special analytical and numerical treatment. Mathematical aspects can be characterized by linear complementarity problems (LCP) for plane contacts and by nonlinear complementarity problems (NLCP), homotopy or projection methods for spatial contacts. Worldwide, there exists an increasing scientific community dealing with these problems where specially in Europe the efforts are concentrated on the mathematical foundation, on applications for multibody dynamics and for FE-problems.

International Standard Number:ISBN 0-7923-6030-3


Name:Dynamics of Multibody Systems

Author:A. Shabana

Publisher:Cambridge University Press


Description:This book provides an introduction to the subject of multibody dynamics, with an emphasis on flexible body dynamics. The first chapter covers the basic ideas of kinematics and dynamics of rigid and deformable bodies. the book then moves on to advanced topics, including finite-element formulations, and concludes with clear, careful explanation of newer computational techniques.

International Standard Number:ISBN 0-521-59446-4


Name:Numerical Methods in Multibody Dynamics

Author:Edda Eich-Soellner Claus Fuhrer

Publisher:B.G. Teubner Stuttgart



This book gives insight into modern techniques of numerical mathematics in the light of an interesting field of applications: multibody dynamics. The important interaction between modeling and solution techniques is demonstrated by using a simplified multibody model of a truck. Different versions of this mechanical model illustrate all key concepts in static and dynamical analysis as well as in parameter identification. The book focuses in particular on constrained mechanical systems. Their formulation in terms of differential-algebraic equations is the backbone of nearly all chapters.


The book is written for students and teachers in numerical analysis and mechanical engineering as well as for engineers in industrial research laboratories working with modern multibody simulation tools.

International Standard Number:ISBN 3-519-02601-5


Name:Multi-Body Dynamics Vehicles, Machines, and Mechanisms

Author:Homer Rahnejat

Publisher:Professional Engineering Publishing


Description:Almost 95 percent of all dynamic problems relate to the interactions of an assembly of parts or a cluster of objects. The overall dynamic response of multi-body systems are affected by their individual elements. In practical mechanisms these individual elements are constrained or restrained together in certain ways in order to achieve the desired functions when their assembly is subjected to applied forces and motions. Multi-Body Dynamics: Vehicles, Machines, and Mechanisms opens by providing and understanding of engineering dynamics and then leads on to the analysis, techniques, and problem solving approaches.

The author guides the reader through from dynamic principles to the detailed multi-body formulation and solution approach. In the earlier chapters, model analytic solutions have been provided for a variety of machines and mechanisms such as vehicular suspensions, tailgate systems, helicopter rotors, and satellites to illustrate the principies involved. In the later chapters state-of-the-art modelling and solution methods are presented to investigate complex dynamic phenomena in the behaviour of automobiles and aircraft.

International Standard Number:ISBN-1-86058-122-6


Name:Kinematic and Dynamic Simulation of Multibody Systems, (The Real-Time Challenge)

Author:J. Garcia de Jalon, E. Bayo



Description:This text presents the main types of coordinates used to describe multibody systems, as well as the most common and useful methods used in kinematic and dynamical analyses. The first chapters introduce basic techniques essential to a further study of the literature. The book contains many original developments due to the authors and their research teams. The emphasis is on clarity of presentation, computationa efficiency, and simplicity of the formulations. Each chapter contains many worked examples as well as problems and computer exercises. The book concludes with a compendium of recent developments in the field.

International Standard Number:0-387-94096-0


Name:Advanced Multibody System Dynamics

Author:W. Schiehlen (Editor)

Publisher:Kluwer Academic Publishers


Description:From the book: "This volume presents a unique collection of contributions describing the latest developments in the field of multibody system dynamics. It includes the results of a nationwide five-year research project by the German Research Council to determine:

  • research on fundamental methods of multibody systems;
  • concept for new formalisms of dynamical analysis;
  • development of efficient numerical algorithms;
  • realization of a powerful software package of multibody systems.
Contributions are of an interdisciplinary nature with research from the fields of mathematics, computer science, mechanics, and control theory, and thus the volume will be invaluable to engineers and scientists working in these areas."

International Standard Number:ISBN 0-7923-2192-8


Name:Multibody Systems Handbook

Author:W. Schiehlen (Editor)




Dynamics of multibody systems is of great importance in the fields of robotics, biomechanics, spacecraft control, road and rail vehicle design, and dynamics od machinery. Many research problems have been solved and a reasonable number of multibody formalisms has been developed in the last two decades.(...) A considerable number of computer codes based on these formalisms is now available. With the Multibody Systems Handbook it is intended to collect software systems for multibody system dynamics which are well stablished and have found acceptance in the users community. The Handbook will aid the reader in selecting the software system which is most appropriate to his needs.

Altogether 17 research groups contributed with their programs or software systems to the Handbook. A compact summary of important capabilities of these software systems is presented in tabular form

International Standard Number:ISBN 0-387-51946-7


Latest news