ROBOTRAN: Symbolic Generation of Multi-Body System Dynamic Equations

Abstract

This paper presents the main features of the current version of the ROBOTRAN programme [1] whose purpose is to generate, in symbolic form, the equations of motion of multibody systems. The way the equations are generated is briefly described and the general structure of the programme is presented. Then, some advantages of the symbolic approach and the corresponding techniques implemented in ROBOTRAN are explained. Finally, the way the programme has been adapted to deal with railway vehicle applications is presented for illustration purposes.