Tips on Multibody System Modeling with Loop Constraints

It is well known that for constrained multibody system, cutting off the loop is an efficient way for modeling, and several methods have been proposed. In this paper, several tips are proposed to provide another choice for both constrained dynamic model and reduced control model. Its main advantage is that no special treatment is needed for loop constraint, while unknown constraint forces are still eliminated. The explanation and numerical simulations are presented to valid accuracy of proposed tips.