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Research in multibody systems has been growing rapidly in parallel with developments in computer sophistication since this has enabled complex real systems to be analysed more easily and quickly. One of the most difficult problems in modelling multibody systems is flexibility, which requires more simplifying assumptions than other phenomena. This monograph explains how homogenous transformations can be used to model kinematic chains with both rigid and flexible links. Flexible links are modelled using three approaches: both the classical and modified rigid finite element method as well as...

A new approach is presented in this book for modelling multi-body systems, which constitutes a substantial enhancement of the Rigid Finite Element method. The new approach is based on homogeneous transformations and joint coordinates. Apart from its simple physical interpretation and easy computer implementation, the method is also valuable for educational purposes since it impressively illustrates the impact of mechanical features on the mathematical model.