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This paper presents a software package developed for the simulation of spatial mechanisms with both rigid and flexible links. In order to formulate the equations of motion of the system joint coordinates and homogenous transformation are used. Flexible links are discretised by means of the Rigid Finite Element Method (RFEM). In the paper the implementation of the package in C++ is presented. Some results of indirect verification of the software package for sample mechanisms are presented.
Date of Conference: 21-23 Sept. 2009