Abstract
The present tutorial mainly focuses on the modeling process (from system hypotheses to simulation results), rather than on program capabilities, which is more the subject of a user’s manual. MBSOFT [23] to which this tutorial refers is the numerical complement of the ROBOTRAN program (see chapter 5) in the MATLAB environment. The objective of these softwares is the modeling (ROBOTRAN) and analysis (MBSOFT) of multibody systems, defined as being any mechanical system made up of articulated bodies. As can be seen from figure 11.1, the fields of application are numerous and varied: they range from robotics to biomechanics, and encompass the analysis of road and track vehicles. One should keep in mind that one of the main advantages of the approach is its capacity to generate equations of motion in symbolic form. This symbolic form is both compact and user-friendly, thereby allowing the user to easily understand and set up his model. The symbolic equations are then implemented in the numerical study which makes up the second processing stage, viz. the MBsim module (see figure 11.2).
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