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Multibody Systems Software


Description:Robotran is the name of a software which is dedicated to the symbolic generation of kinematic and dynamical equations, using recursive algorithms. It is based on a 'tree representation' of the system using relative joint coordinates. It can handle not only simple tree-like mechanisms or robots but also large and complex multibody systems with closed loop topology.
The 'symbolic equations' are exported as subroutines written in Matlab, C, and some other common programming languages. These subroutines can be used in any computing environment or software. They do not rely on any other library when executing. This means that the models generated by Robotran can be integrated and used rather easily in most multiphysics simulation softwares or numerical computation environments, that were not initially designed to handle multibody systems applications.

Publisher:Universite Catholique de Louvain




The computer program SPACAR has been developed for the simulation and analysis of the dynamics of planar and spatial mechanisms and manipulators with flexible links. It is based on a non-linear finite element theory for multi-degree of freedom mechanisms. The program treats the general case of coupled large displacement motion and small elastic deformation. The motion can be simulated by solving the complete set of non-linear equations of motion or by using the so-called perturbation method. The computational efficiency of the latter method can be improved further by applying modal techniques. The software is available as a Matlab toolbox with interfaces to Matlab and Simulink. E.g. for the design mechanical systems involving automatic controls (like robotic manipulators) interfaces with Matlab are provided for open-loop system analyses. Open-loop and closed-loop simulations can be carried out with blocks from a Simulink library.

Publisher:University of Twente




RoboAnalyzer is a 3D model based software that can be used to teach and learn the Robotics concepts. It is an evolving product developed in Department of Mechanical Engineering at IIT Delhi, New Delhi, India, under the guidance of Prof. S.K. Saha in order to support the learning/teaching of the topics covered in his book "Introduction to Robotics" published by Tata McGraw Hill, New Delhi in 2008 and later brought out in Mexico (2009 in Spanish), China (2010) and Singapore (2010).


  • Serial manipulator with prismatic and revolute joints
  • DH parameters as input
  • 3D model generated based on DH parameters
  • Visualize DH parameters
  • Forward Kinematics
  • Inverse Dynamics (Based on ReDySim Algorithm)
  • Forward Dynamics (Based on ReDySim Algorithm)
  • Animation with trace of end-effector
  • Plot graphs
  • More features to come…

Publisher:Mechatronics Lab, Dpt. Mech. Eng. IIT Delhi




HOTINT is an engineering software for physics based multibody dynamics analysis.

Its main focus lies on the correct mathematical modelling of complex flexible multibody systems and the efficient computation of those, rather than on a rich graphical output or to compete with high end
finite element solvers.

One specific aim of HOTINT is also to offer you smart ways for setting up your complex problems, e.g. mechanisms coupled with feedback controllers.

The extensive documentation and reference manual with approx. 200 pages shall help the user to quickly get into the functionality of the code.

Major parts of HOTINT have been presented in more than 100 international journal articles and conference proceedings.

Publisher:Johannes Gerstmayr, Austrian Center of Competence in Mechatronics, Linz Center of Mechatronics, Johannes Kepler University Linz - Institute of Technical Mechanics




The Recursive Dynamics Simulator (ReDySim) is a free MATLAB-based recursive solver for dynamic analysis of robotic and multibody systems. It consist of very efficient recursive inverse and forward dynamics algorithms for simulation and control of open and closed-loop robotic and multibody systems. ReDySim delves upon the concept of Decoupled Natural Orthogonal Complement (DeNOC) based approach for dynamic modeling. ReDySim has capability to incorporate any control algorithm and trajectory planner with utmost ease. These abilities provide flexibility to users/researchers in incorporating their customized algorithms. Details of formulation used in ReDySim is presented in the book “Dynamics of Tree-type Robotic Systems,” published by Springer, Netherlands in 2013 (http://www.springer.com/engineering/robotics/book/978-94-007-5005-0).



  • Analysis of open and closed-loop robotic and multibody systems
  • Specialized modules for legged robot and space robot
  • Symbolic module for generating equations of motion of any open-loop system
  • DH parameters and mass and inertia properties as inputs
  • Inverse Dynamics
  • Forward Dynamics
  • Ease of including any trajectory planner
  • Feature of integrating any control law
  • Demonstrative analysis of more than 20 robotic and multibody systems
  • Animation, Plot graphs
  • More features to come

Publisher:Dr. Suril V. Shah (IIIT Hyderabad) [Under the guidance of Prof. Subir K. Saha and Prof. J.K. Dutt (IIT Delhi)]


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