This paper presents a method to study multibody system dynamics based on graph theory. The transfer function between any pair of bodies of nonhomogeneous multibody systems with arbitrary topology can be computed without any matrix inversion. The analysis is limited to one-dimensional topologies for clarity, although it can be extended to systems with higher dimensions. Examples illustrate its application to topologies of increasing complexity.
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.Copyright © 2011
by American Society of Mechanical Engineers
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