A method for solving dynamic equations of multibody system based on Bathe integral scheme

The stable and efficient numerical method is key issue in the field of multibody system dynamics. In this paper, the kinematics equations of multibody system are established by using relative coordinate method. Based on the kinematics equations, the dynamic equations of multibody system are established according to the virtual power principle. By using the Bathe integral scheme, a method for solving the dynamic equations are presented. Finally, the accuracy and efficiency of the method are verified by a numerical example.