Computer-Oriented Analytical Dynamics for the Formulation of Equations of Motion for Complex Vehicle Systems

Five analytical mechanics methods to formulate the equations of motion for multilink, articulated machinery systems are discussed, namely the momentum principle, d'Alemberts’ principle, Lagrange's equations. Hamilton's canonical equations, and Kane's method. These methods are examined by means of formulating the equations of motion for a four DOF vehicle system and are discussed from the viewpoint of which method leads most directly to the simplest form of the equations for computer implementation. A brief discussion of general-purpose, large displacement dynamics computer simulation programs for geometrically-constrained, multi-link machinery which utilize these methods is included.