A MULTIBODY TOOLBOX FOR HYBRID DYNAMIC SYSTEM MODELING BASED ON NONHOLONOMIC SYMBOLIC FORMALISM

This paper proposes a hybrid multibody dynamics formalism with a symbolical multibody toolbox developed in MATLAB Environment. The toolbox can generate the dynamic model of a multibody system with hybrid and nonholonomic dynamic properties. The framework and software structure of the toolbox are briefly demonstrated. The paper discusses the recursive kinematics and modular modeling theories that help improve the modeling performance and offer accessibility into the dynamic elements. The formalism that offers a symbolic solution to nonholonomic and constrained dynamics is explained in detail. The toolbox also provides design tools and auto compilation of hybrid automata. Two exemplary models and their simulations are presented to verify the feasibility of the formalism and demonstrate the performance of the toolbox.