From particle-mass to multibody systems: graph-theoretic modeling

The distinction between geometry and dynamic interactions is fundamental for the consistent dynamic analysis of physical systems. A unified treatment of such systems is possible when we adopt a hierarchical mathematical model with a consistent set of embedded abstractions. This new view is adopted in the general formulation strategy for obtaining a simplified dynamics model of mechanical systems. We show that there exists a consistent general extension from the model of constrained particle-mass systems (PMS) to the model of multibody systems (MBS) based entirely on graph-theoretic concepts