Abstract
In previous work the author has presented a methodology for obtaining closed form equations of motion for general non-holonomic hybrid parameter multiple body systems (HPMBS). It is well known that generating closed form symbolic equations of motion for HPMBS of few degrees of freedom rapidly degenerates to an algebraic soup unless computer tools are utilized. Methods dependent on Lagrange multipliers are virtually unable to provide the constant free (minimal) symbolic equations for systems of moderate to high order due to the complication of eliminating the multipliers. In this paper, the intent is to provide the details, and example use of, a tool, based on commercial symbolic manipulation software, developed to assist the symbolic processing of the equations of motion as previously minimally formulated. The tool presented herein is novel in the way the vector notation of the formulation scheme is retained and the way that frame information is carried in the calculations. The symbolic tool provided in this paper allows the modelling methodology to be a practical tool for generating closed form equations of motion for extremely complicated HPMBS.
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