RecurDyn For Beginners

RecurDyn for Beginners
- Innovation for Design & Analysis

with Multibody Dynamics –
Nobuyuki Shimizu
Copyright ○
C 2015 by FunctionBay, Inc. All rights reserved.
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Preface
RecurDyn for Beginners is divided into three parts. This book is intended to introduce the general
purpose multibody dynamics software ‘RecurDyn’ for engineers and analysts who are engaged in
analyzing, designing and manufacturing machineries, i.e. machines and mechanisms. When solving
problems of machine and mechanism dynamics, and vibration-control using RecurDyn, it is necessary
to know how to model and analyze the problems. This book answers the questions by explaining the
following:
1) Outline, development and future plans for RecurDyn
2) Fundamental theory of multibody dynamics on which RecurDyn is based
3) What RecurDyn is and how to use it, how to create input data for RecurDyn and how to handle
input data in RecurDyn.
From this contents, readers will learn both what RecurDyn is, and what the multibody dynamics
(MBD) on which RecurDyn is based are. Consequently, the readers can understand how to analyze
actual problems by RecurDyn, associating with motion, vibration and control for machines and
mechanisms (generally referred to as MBD problems) which are encountered at manufacturing sites
which utilize RecurDyn. The readers can extract meaningful engineering data from RecurDyn's
computational results, and solve problems. Through this process, the MBD problems associated with
analyzing, designing and manufacturing machines and mechanisms can effectively be solved. From
the overview of RecurDyn in its functions and developments, application developments can be seen
in the fields of not only machine problems, but also biomechanics, molecular dynamics and other
problems which require dynamics analysis.
In Part 1 ‘Outline, development and future plans for RecurDyn,’ an outline of how RecurDyn was
developed and what RecurDyn can do will briefly be given. An overview of RecurDyn’s many
functions will also be given. There are many functions in RecurDyn. The overview of these items will
also be given. Next, comparisons between the MBD on which RecurDyn is based and the finite
element method (FEM) will be given followed by comparisons between the general purpose MBD
software and FEM software. After this, a brief review of future developments of RecurDyn will be
given.
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Footnote;
The multibody dynamics (MBD) and the finite element method (FEM) are the different subject of
study. The terms, MBD and FEM cited in this book are often used to indicate a solution methodology
based on the indicated subject of study which contains the methods of modeling, computing and
analyzing.
--------------------------------------------------------------------------------
In Part 2 ‘Fundamental theory of multibody dynamics on which RecurDyn is based,’ an outline of
the multibody dynamics on which RecurDyn is based will briefly be given. It is important to know the
relationship between CAE (Computer Aided Engineering) and its supporting subjects of study when
we consider the role of the MBD in manufacturing. The finite element method has already been
established as a main supporting subject of study for CAE. Because of this, the relationship between
multibody dynamics and the finite element method will be briefly explored.
In Part 3 ‘Using RecurDyn’, RecurDyn Professional (RD/Pro) of RecurDyn’s large family of
software will be explained. RD/Pro (hereafter simplified to ‘RecurDyn’) - which has been in
development since RecurDyn’s initial stage - treats the rigid MBD problems. In this part, RecurDyn
will be explained, and some concrete examples will be used to show how to use it. After, reading this
part, readers should be able to master how to use RecurDyn for simple problems. Specifically, by using
simple mechanism analysis models, the following items will be studied.
1) Creating analysis data for RecurDyn, executing computations and evaluating
computational results
2) Fundamental features of RecurDyn: GUI, body, joint, force, contact and other entities
3) Special considerations for creating RecurDyn analysis data
4) Dynamics analysis of simple models using RecurDyn
5) File compositions of RecurDyn
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Acknowledgements
I wish to thank Dr. Jin Hwan Choi, professor of KyungHee University and a founder of FunctionBay,
Inc., Korea, who gave me the chance to write this book and Mr. Sangtae Kim, a team manager of the
Technical Marketing team of FunctionBay, Inc., who patiently supported my writing of this book.
I also wish to thank Dr. Juhwan Choi, a head of R&D center and a chief product officer of FunctionBay,
Inc. who provided information on numerical integration methods and Mr. Ho-Young Cha, a senior
research engineer of the solver team of FunctionBay, Inc. who provided information on contact force
algorithms within RecurDyn. Lastly, I want to express my gratitude to Mr. Takashi Suzuki, president
of FunctionBay K. K., Japan, who gave me permission to use several useful materials originated by
his team.
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Contents
Part 1 Outline, development and future plans for RecurDyn
1. What is RecurDyn?
2. How has RecurDyn been developed?
3. What can RecurDyn do?
4. Outline of compositions and functions of RecurDyn
5. Integrated analysis using RecurDyn
References
Part 2 Fundamental theory of multibody dynamics on which RecurDyn is based
1. Introduction
2. CAE in manufacturing and its supporting subjects of study
3. Development of multibody dynamics
4. The Fundamental concept and theory of multibody dynamics
5. Future problems and trends of multibody dynamics
References
Part 3 Using RecurDyn
1. Introduction
2. Analysis examples of mechanism problems using RecurDyn
3. RecurDyn terms
4. Using RecurDyn
5. Getting to know RecurDyn
6. Analysis using RecurDyn
7. RecurDyn files
References
5
Part 1 Outline, development and future plan
of RecurDyn
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Contents
(1) Standard multibody dynamics software (RecurDyn/Professional)
(2) Interdisciplinary toolkits
(a) Mechanism analysis of flexible bodies
(b) Analysis of control problems (CoLink)
(c) Design optimization (AutoDesign)
(d) Particle analysis (Particles)
(3) Interfacing with external software (Communicators)
(a) Control: Interface of control software
(b) Hydraulic: Interface of hydraulic-control software
(c) FMI
(d) CAD Interface
(4) Special purpose toolkit (Application Toolkit)
(5) Automating and customizing (Automation & Customization)
5. Integrated analysis using RecurDyn
References
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RecurDyn is a general purpose commercial software, which conducts motion and vibration
analyses of mechanisms and mechanical systems. It is developed and sold by FunctionBay, Inc. The
name, RecurDyn comes from the theory of recursive formulation which provides highly efficient
calculations for equations of motion for constrained mechanical systems in rigid multibody dynamics.
Currently, RecurDyn analyzes mechanical systems with rigid and flexible bodies using various
methods in addition to the recursive method. RecurDyn has another remarkable feature in its pre-
processor. Since RecurDyn adopts a geometry-based input procedure, when creating analysis input
data, it enables users to conduct user-friendly intuitive operations.
Figures 1.1 and 1.2 show the results of practical examples of motion analysis using RecurDyn. Fig.
1.1 displays the running motion of a farming tractor and Fig.1.2 shows a robot’s motion during
operation.
Fig. 1. 1 A farming tractor
(from https://youtu.be/EIGspLzu5oQ)
Fahrdynamik Traktor RecurDyn, Labor MKS, Fakultät Maschinenbau
Fig.1.2 A robot’s motion during operation

(from https://youtu.be/ggP9H95583k)
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A mechanism analysis model created from a mechanical system including mechanisms with multiple
body components is characterized by mass properties and joint properties between adjacent body
components (e.g. joint constraints). This model is subjected to inputs in the form of specified motions
and/or external forces to obtain its responses. Computational results for motion (e.g. position, velocity,
and acceleration) and forces (e.g. joint reactions, spring forces) are given by animations and graphs
for which physical evaluations can easily be given.
Motion analysis of machines and mechanisms is used for product development in many industrial
fields such as automobiles, construction machines, heavy electric machines, media transportation
systems and home appliances. During product and system development, the product’s behavior is
checked using a prototype model. The system’s behavior is checked for cases where an actual physical
test is impossible or impractical (e.g. overturning a train, behavior of structures in outer space).
Consequently, the cost of trial manufacturing is reduced and the development period is shortened. This
results in realizing high-quality product design and development.
Supported by recent advancements in computer science, CAE (Computer Aided Engineering) has
established its own position as an assisted means for manufacturing technology in engineering. Thus,
the motion analysis software of machines and mechanisms contributes to manufacturing in the same
way that the finite element software in CAE contributes to manufacturing.
The motion analysis of machines and mechanisms is scientifically based on the multibody
dynamics. Problems that can be solved deal with subjects such as mechanical and biomechanical
systems with many moving parts and components.
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RecurDyn was developed by two Korean multibody dynamics researchers: Professors Dae Sung
Bae of Hangyang University and Jin Hwan Choi of KyungHee University. Originally, it was meant to
be software used only in the laboratory. RecurDyn version 1 was completed as an academic level
software. From the first stage of development, RecurDyn has used the recursive formulation, setting
it ahead of other well-known general purpose multibody dynamics software. RecurDyn was
powerful enough to analyze chains and belts involving contact. In order for software to be accepted in
a market, it is important that said software has superior features such as ease of use, relatively fast
computation times, and stably obtained solutions. In September 2000, RecurDyn ver. 3.0 was released
as a commercial software by improving the performance through repeated revisions and modifications.
RecurDyn ver. 4.0 was released in 2001 and is the basis of the current version of RecurDyn and has
been improved every year until now. The latest version is RecurDyn V8R3 which was released in
August 2014.
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RecurDyn analyzes machines and structures with moving mechanisms including information
devices, office appliances, acoustic equipment, robots, manufacturing machines, construction
machines, automobiles, trains, wind turbine-towers, space structures, satellites and biomechanical
bodies such as human beings and animals.
RecurDyn is not limited to the analysis of standard rigid multibody dynamics problems (e.g.
kinematics analyses, dynamics analyses) alone. It can also be used to analyze nonlinear elastic
mechanism systems with large deformable contact effects, coupling problems between the
aforementioned systems and structures, mechanism systems involving complex control strategies,
coupling problems between structures and fluids, fatigue problems associated with stresses exerted in
materials and mechanism motion with variations and tolerances due to manufacturing errors.
RecurDyn can furnish functions for automating and templating highly complex analysis and
functions of customizing as per customers’ requests. Thus, not only analysts but also engineers can
easily use RecurDyn.
The following are brief analysis examples.
- Structural mechanism problems with flexible bodies
Fig. 3.1 shows an example of stress analysis for the main column of a landing gear mechanism
during airplane landing. Strength analysis of landing gear mechanisms is an important part of
evaluating safety during an airplane’s landing. For this type of problem, flexible bodies must be used
for an accurate analysis.
- Mechatronics problems with controllers
Fig. 3.2 shows an example of tracing analysis for a lane trace robot. Many mechatronics systems are
represented by robots. Manufacturing products which have mechanism systems including sensors
and controllers need to be analyzed with regards to their dynamics properties. During research and
development for mechatronics systems, RecurDyn simultaneously runs a mechanism model and a
control model in collaboration with CoLink and Simulink. Since RecurDyn makes control codes
simultaneously, mechanisms, electric circuits and firmware can interactively be developed during the
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task from designing to testing.
- Multi-physics problems
Fig. 3.3 is an analysis example showing the coupling problem between a piston-crank mechanism
and fluid oil in an automobile engine. Solving problems of dynamic coupling between mechanisms
and fluid is an important area in CAE. In this analysis, RecurDyn calculates forces acting upon each
part of the engine exerted by the fluid motion and evaluates how the engine’s motion affects the fluid’s
motion.
- Problems of durability analysis
Fig. 3.4 is an analysis example showing durability and lifetime estimation of an automobile
suspension system. RecurDyn evaluates fatigue, durability and lifetime through the analysis of stress
induced in the members and components of the concerned object.
Fig. 3.1 Landing mechanism of airplane

(structural mechanism problem including
flexible bodies, from Fig.3.2 Lane trace robot (mechatronics problem with
https://youtu.be/caC-851ECaA) control, from https://youtu.be/ZQk5besRwXM)
Fig.3.3 Co-simulation with Particleworks for oil behavior

Fig. 3.4 Fatigue analysis
analysis in motorcycle engine (multi-physics 12
problem),
of automobile suspension
Courtesy of Thomas Freviller and FunctionBay K.K. Japan
(durability analysis)
This chapter briefly outlines the compositions and functions of RecurDyn(1). The integrated
system of RecurDyn is shown in Fig. 4.1. RecurDyn/Professional: a rigid multibody dynamics
analysis software. FFlex: a finite element analysis software. RFlex: a finite element analysis
software. Control: a control and mechatronics analysis software. CoLink. a Simulink-like software.
AutoDesign: an optimization design software. Durability: a fatigue analysis software. Particles: a
particle analysis software. These are all integrated on the common platform. RecurDyn enables users
to conduct a seamless analysis starting from load all the way to fatigue via multibody dynamics and
finite element procedures.
Fig. 4.1 Integrated RecurDyn system
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Fig. 4.2 RecurDyn structure composed of
RecurDyn/Professional and several groups of toolkits
The software RecurDyn is composed of groups of toolkits whose center is RecurDyn/Professional as
shown in Fig. 4.2. The circle and the right and the left hand-side blocks consist of the following
functions.
1) Standard multibody dynamics software (RecurDyn/Professional)
- Pre-/post-processor (RecurDyn/Modeler)
- Solver (RecurDyn/Solver)
- Customizer (RecurDyn/ProcessNet)
2) Interdisciplinary toolkits
- Multi-flexible body dynamics
FFlex, RFlex, Durability, Linear, RFlexGen
- Analysis of control problems (CoLink)
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- Design optimization (AutoDesign)
- Particle analysis (Particles)
3) Interface for external software (Communicators)
- CAD Translator
STEP, IGES, ACIS, CATIA
- CAE Interface
Simulink, AMESim, FMI, Particleworks
4) Special purpose toolkits (Application Toolkit)
- Machinery
Gear, Bearing, Chain, Belt, Spring
- Engine
Crank, Piston, Valve
- Track
TrackLM, TrackHM
- Media Transport
MTT2D, MTT3D
5) Automating and customizing (Automation & Customization)
- ProcessNet
- eTemplate
Further detailed explanations will be given below.
(1) Standard multibody dynamics software (RecurDyn/Professional)
The sub-programs which form RecurDyn/Professional are RecurDyn/Modeler and RecurDyn/
Solver. RecurDyn/Modeler is a pre-processor which makes analysis input data for RecurDyn. This
pre-processor is designed and built such that it is easy to use within Microsoft Windows operating
systems. Analysis models can be created using CAD imported data as well as the Modeler. Available
formats are Parasolid, STEP, IGES, ACIS and CATIA. Since the Parasolid kernel is provided, an
effective interface can be made with CAD data.
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RecurDyn/Solver efficiently solves equations of motion for flexible multi-body systems composed
of rigid and flexible bodies by means of the best suited solver. It can also efficiently solve a coupled
system between multibodies and control, a flexible system and an optimization problem. Furthermore,
RecurDyn/Solver can efficiently handle complex contact problems. As an integration solver, the
DASSl, the implicit generalized  method, and the tracked generalized  method are provided.
RecurDyn/Professional treats the following analysis models.
- Pre-analysis: This analysis searches for redundant constraints and counts the degrees of freedom of
the analysis model. This analysis is carried out using all kinematical constraints.
- Static Analysis: This analysis treats static problems.
- Dynamic Analysis: This analysis treats dynamic problems.
(2) Interdisciplinary toolkits
(a) Mechanism analysis of flexible bodies
Mechanism analysis software for flexible bodies within RecurDyn is comprised of modules from
RecurDyn/FFlex (the nonlinear finite element analysis toolkit), RecurDyn/RFlex (the elastic body
mechanism analysis toolkit, from which data is imported from linear elastic body analysis) and Linear
(the eigenvalue analysis toolkit which calculates eigen-frequencies and the corresponding modes for
linearized equations of motion, which are linearized from a nonlinear mechanism model at specified
or arbitrary equilibrium position). By using this software, analyses for mechanism systems comprised
of flexible parts and components can be effectively analyzed.
1) RecurDyn/FFlex（Full Flex）
RecurDyn/FFlex（Full Flex, the nonlinear finite element analysis toolkit）calculates nonlinear elastic
mechanism problems undergoing large deformation and rotation with contact. This toolkit has the
following features:
- FE meshing is applied for finite element regions.
- Slips and continuous contacts along with flexible body surfaces are correctly described.
- Local and large deformations are correctly described in nonlinear flexible bodies.
FE Mesher provided for RecurDyn creates a finite element mesh for the bodies such that the already
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defined data of joints and forces associated with the bodies are kept as they are. This makes it easier
to exchange data between rigid bodies and flexible bodies.
2) RecurDyn/RFlex (Reduced Flex)
RecurDyn/RFlex (Reduced Flex), the elastic body mechanism analysis toolkit, imports and
integrates linear elastic structural computation data by employing modal synthesis methods in
structural analysis software. This has the following features:
- Flexible elements can be introduced into the whole rigid body model.
- An investigation into how the flexible elements affect the whole system can be conducted.
Table 4.1 summarizes the comparisons between the FFlex and RFlex features. When conducting
an analysis, the appropriate toolkit will be selected by considering nonlinearity and performance.
Table 4.1 Comparisons of Features between FFlex and RFlex
Comparison items FFlex RFlex
Material, Material nonlinearity, Linear material,
element deformation large displacement infinitesimal displacement
Load and boundary Contact, moving boundary Applied forces
conditions to fixed points
Scale of problems Small and middle scale Large scale
FE models FE models
Applicability of problems Dynamics analysis Validation analysis
for control systems
3) Linear
Linear is the eigen frequency analysis toolkit which enables users to compute eigenvalues and the
corresponding mode shapes for the linearized system which is linearized from an original nonlinear
system. Animations for the mode shapes can be seen using this toolkit.
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(b) Analysis of control problems (CoLink)
CoLink is a toolkit which describes controllers and signal flows of control systems to realize
control simulations under RecurDyn. ChEngine is a supporting ScriptEngine for C language, and it
enables the use of existing C coding within RecurDyn.
(c) Design optimization (AutoDesign)
This is a user interface toolkit for automating design optimization. Using this toolkit, optimum
gains of controllers under specified conditions and optimum actuation conditions of a system can be
searched for and found.
(d) Particle analysis (Particles)
Based on particle dynamics, this toolkit analyzes dynamic behavior of solid particles such as soil
and sand. By employing GPU technology, the toolkit enables one to simulate models comprised of
particles numbering from ten-thousands to several hundred-thousands.
(3) Interfacing with external software (Communicators)
(a) Control: Interface of control software
RecurDyn/Control is an interface toolkit which connects RecurDyn and MATLAB/Simulink, a
control system software. Thus, a mechanism model created by RecurDyn and a control model created
by MATLAB/Simulink can be linked together.
(b) Hydraulic: Interface of hydraulic-control software
RecurDyn/Hydraulic is an interface toolkit which connects RecurDyn and AMESim, a hydraulic-
control software. Thus, a mechanism model created by RecurDyn and a hydraulic-control model
created by AMESim can be linked together.
(c) FMI
FMI (Functional Mock-up Interface) is an interface toolkit which enables RecurDyn to be linked
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with Modelica libraries.
(d) CAD Interface
This is an interface toolkit which enables reading and writing with the file formats STEP, ACIS,
IGES and CATIA. Since RecurDyn uses the Parasolid kernel, Parasolid file format is also supported.
(4) Special purpose toolkit (Application Toolkit)
MTT2D : This is a 2 dimensional media transportation toolkit which effectively creates and
simulates 2 dimensional mechanical models of elastic media transportation systems.
MTT3D : This is a 3 dimensional media transportation toolkit which effectively creates and
simulates 3 dimensional mechanical models of elastic media transportation systems.
TrackLM : This is a toolkit which creates and simulates tracked vehicle construction machines
and heavy industry equipment. Main components are provided in a library.
TrackHM : This is a toolkit which creates and simulates tracked tanks, carrying mobiles for
soldiers, and leisure cars like snow mobiles. Main components are provided in a
library.
RecurDyn also has other similar modeling toolkits including: Chain, Belt, Gear, Valve, Crank,
Bearing and Piston toolkits.
(5) Automating and customizing (Automation & Customization)
RecurDyn/ProcessNet is a macro-function of RecurDyn which is similar to API (Application
Program Interface) and can also connect to Microsoft Excel. The toolkit is used within the Visual
Studio environment. This enables automation for repeated works of model creation.
eTemplate is a toolkit which enables the creation of RecurDyn models with Microsoft Excel.
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5. Integrated analysis by RecurDyn
In chapter 4, the integrated RecurDyn system was briefly introduced. Here, using the application
examples shown in Fig. 5.1, we show how this system can be used. Shown at the center of Fig. 5.1 is
the automobile model which will be analyzed by means of MBD. In order to increase the performance
for this car, an analysis model for conducting rigid multibody dynamics simulations must be created.
Fig. 5.1 Organized case-study of RecurDyn

(Reproduction, Courtesy of Jacob Hustad and FunctionBay K.K.,Japan)(2)
Fig. 5.1 intends to execute running analyses of an automobile. In section □

1 of the figure, gears,
suspensions, the parts of a transmission system and tires are replaced with elastic elements from rigid
ones to obtain more realistic dynamic behavior. In section □

2 , a coupled analysis model between a
mechanism system and a control system is introduced. In this example, an active suspension is
introduced. In section □
3 , automatic model generation of engine crank-shafts and chains is
completed using special purpose toolkits. Furthermore, in section □

4 ProcessNet is used for
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automatic generation of spring models, which makes parameter studies easier. Users can know in a
short time how an increase in performance can be achieved by comparing the analysis results of a new
model and those of the existing car model.
References
(1) Web page of FunctionBay, Inc. http://www.functionbay.co.kr/
(2) Web page of FunctionBay K. K. http://www.functionbay.co.jp/
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Part 2 Fundamental theory of multi-body
dynamics on which RecurDyn is based
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Contents
1. Introduction
2.1 CAE in manufacturing
2.2 MBD and FEM which support CAE
3.1 Brief history of multibody dynamics
3.2 Recent progress of multibody dynamics
4. The fundamental concept and theory of multibody dynamics
4.1 Typical formulation methods of multibody dynamics
4.2 Reference frames and coordinates
4.3 Coordinates, constraints and degree of freedom
(1) Coordinates of a body
(2) Constraints
(3) Number of coordinates, number of constraints and degrees of freedom
4.4 Transformation of coordinates
4.5 Position, velocity and acceleration
(a) Position and position vector
(b) Velocity and velocity vector
(c) Acceleration and acceleration vector
4.6 Mass properties
(1) Mass and center of mass
(2) Definition of the inertia matrix
4.7 Forces and torques
(1) Equivalent system of forces and torques
(2) Generalized forces
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(3) Force elements of springs, dampers and actuators
4.8 Basics of the augmented method
(1) Coordinates
(2) Kinematics
(3) Dynamics
4.9 Basics of the recursive method
(1) Coordinates
(2) Kinematics
(a) Position relations
(b) Velocity relations
(c) Variation relations
(d) Acceleration relations
(3) Dynamics
(4) Extension for general three-dimensional problems
4.10 Contact theory
(a) Normal forces
(b) Frictions
4.11 Numerical integrations for constrained equations of motion
(1) Differential equations

(2) State transition equations
(3) Equations of motion and constraint equations to be solved
(4) Numerical integration using BDF
(5) Time integration by the Newmark method
(a) Linearization of nonlinear differential -algebraic equations
(b) Applications of the Newmark method
(6) Index-reduced equations of motion and constraint equations
5. Problems to be solved and reviewed for MBD
(1) Virtual environment for manufacturing
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(2) Popularization and awareness of MBD
(a) Education in university
(b) Popularization within industrial sectors
(3) Problems and research review of MBD
References
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1. Introduction
This part briefly introduces the study of multibody dynamics (MBD) on which RecurDyn is based.
MBD is the study of motion, vibration and control for structures, machines and biomechanical bodies
which are organically formed by many parts and components. These parts and components are treated
as both flexible bodies and rigid bodies. With an increasing need for fatigue analyses based on a
flexible model of mechanical components, flexible multibody dynamics analysis has been inevitable.
Since some portions of the finite element method (FEM) are contained within flexible MBD, it is
generally understood that flexible MBD is a combination of rigid MBD and FEM.
(1) - (4)
Hereafter, we will concentrate on rigid MBD, which is the basis of multibody dynamics .
Readers who are interested in learning about flexible multibody dynamics can refer to references (5)
and (6).
Chapter 2 describes CAE and its role in manufacturing, and compares it to the roles of MBD and
FEM, which are supporting subjects of our study for CAE. Chapter 3 reviews a brief history and the
current progress of MBD. Chapter 4 explains MBD's basic concept, introductory contents, and
fundamental theory. The augmented formulation method, which standard text books use, and the
recursive formulation method, which RecurDyn uses, will have a brief explanation. The first important
item may be the reference frame and coordinates for which RecurDyn uses the term ‘marker.’ This is
the reference used to describe the position of a body and the physical quantities involved. There are
several methods for formulating equations of motion and constraint equations for MBD systems.
RecurDyn uses the recursive formulation as its theoretical and computational basis. This formulation
is now widely used for many general purpose multibody dynamics software because of its high
computational efficiency. In this section, the augmented formulation method, which is easy for
beginners to understand, will be explained in addition to the recursive formulation method. Contact
theory is also briefly explained. It will be helpful for readers to understand how contact computation
is being done. RecurDyn has enriched contact elements so that a wide variety of contact situations
can be handled and simulated. This is one of the main features of RecurDyn. After the completion of
analysis input data and the creation of MBD problems, numerical computation will start to obtain
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analysis results. The results will be displayed in either an animation or a graph. The numerical
computation procedure is called the time integration method. The method is always needed when a
time-dependent analysis model will be computed. The last part of this chapter treats the numerical
integration method.
Even though this book is introductory in nature, it also contains some materials at an intermediate
level. It is advisable for beginners to read only 2-dimensional theories and to skip other parts first,
then return to the skipped parts if needed. Lastly in chapter 5, future problems and trends which MBD
will face are briefly reviewed.
It may be advisable for readers, who want to know how to use RecurDyn quickly, to skip Part 2 and
proceed to Part 3, ‘Using RecurDyn.’ Then if needed, the readers can return to Part 2 to study the
theoretical aspect of MBD, which is a basis for RecurDyn.
2.1 CAE in manufacturing
In tasks for designing and manufacturing machines and mechanisms, a series of design,
development, trial manufacturing, testing and verification continues until the actual machines and
mechanisms are finally manufactured. Fig. 2.1 is a time-flow diagram showing how Computer Aided
Engineering (CAE) is involved in control systems for manufacturing machines and mechanisms. The
upper part of Fig. 2.1 shows how machines and mechanisms are designed by traditional methods.
A process for designing machines and mechanisms shown in the upper part of Fig. 2.1 is considered
to be followed by the process shown in Fig. 2.2. In design, this general process is followed: consider
 draw  examine  consider  judge  draw  consider the whole cycle. If

necessary, further cycles of this process are repeated. In each step of the process, applications of CAE
take place. For example, with ‘drawing’, CAD (Computer Assisted Design) is usually used to help
visualize ideas. With ‘examining’, internet research and computer analyses are completed to help
improve these ideas.
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Fig.2.1
Comparisons between traditional and advanced methods in manufacturing
The design results are ‘considered’ and ‘judged’ by comparing them with the analysis’ results.
Further improved ‘drawing’ are then carried out. Thus, CAE's role in design is considerable. This is
essential technology for product manufacturing. CAE technology in Fig. 2.1 is applicable not only for
designing, but also for developing and trial manufacturing. This CAE process continues until testing,
which is the next step of trial manufacturing, starts.
Fig. 2.2 Process of design work
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Fig. 2.1 shows an overview of CAE roles. The manufacturing of machines and mechanisms
involving control systems not only needs simple machine and mechanism systems but, also requires
electronic circuits, control systems and firmware. Even though designing, developing and trial
manufacturing of control systems in conjunction with machine and mechanism systems are
simultaneously carried out, verification tests of machines and mechanism systems must be carried out
before verification tests of electronic circuit systems. Lastly, verification tests of firmware are done.
In other words, a comprehensive test of electronic circuits and firmware will not be carried out before
completing machine and mechanism systems testing. Naturally, in each step of producing electronic
circuits and firmware, it is intended for users to apply CAE as in the case for machines and mechanisms.
When some unacceptable results are found in the comprehensive tests, the process should revert to an
earlier position to revise unacceptable portions and start again. This ultimately leads to a longer
completion time for the project. This is a traditional procedure shown in the upper part of Fig. 2.1.
In contrast, the lower part of Fig.2.1 shows an advanced method. When using highly advanced CAE
software, each development step of: manufacturing (designing, developing, trial manufacturing and
testing), machine and mechanism systems, electronic circuit systems and firmware systems is
interactively communicating information through simulators. Manufacturing in virtual space
ultimately leads to less waiting time interactively. Thus, the actual designing at each stage: virtual
machine and mechanism systems, virtual electronic circuit systems and virtual control systems for the
circuits, is virtually designed and manufactured.
The same tasks are continued in the stages of actual development and trial manufacturing. Then the
developed virtual systems are gradually replaced with actual hardware systems. At the final actual
testing stage, hardware of machine and mechanism systems, electronic circuit-control systems, and
firmware systems are simultaneously tested for the whole actual integrated system. By implementing
this procedure, repeated work is remarkably reduced and this results in shortened manufacturing
periods. Its possibility is dependent on how close simulation software calculation results are to the
actual behavior in each step of the procedure. Thus, the importance of applying high-performance
CAE bolstered by actual data in application fields has been on the rise. This is the trend and direction
of CAE in manufacturing.
29
Fig. 2.3 shows the roles CAE and MBD play in car engine design. In designing and developing
car engines, many engineering problems have to be overcome. In addition to a standard car engine
design satisfying basic performance parameters, it is necessary to solve many problems including
reducing noise and vibration, improving handling and stability, reducing friction and improving
reliability. Fig. 2.3 shows an example of an integrated solution platform centered on MBD for solving
CAE problems.
Fig. 2.3 Roles of CAE and MBD for car engine design
2.2 MBD and FEM which support CAE
As previously explained, Fig. 2.3 tries to solve many engineering problems such as reducing noise
and vibration, improving handling and stability, reducing friction and improving reliability. All of
these problems relate to car engine design improvement by putting MBD at the center of the platform
of the CAE system and by invoking computational engineering (e.g. finite element analysis, controls,
and tribology). Similarly, MBD plays a central role in CAE system establishment. The reason for this
comes from MBD's nature. MBD can easily describe ‘transmitting power,’ which enables one to
handle the dynamics of a machine and mechanism system like a piston-crank and moreover, has
reasonable affinity with FEM and controls which will be described below. As CAE is the kind of
engineering where computer analysis is centered, it contains many analysis fields. Specifically FEM (1)
30
is well known as a powerful tool within CAE. For engineers, CAE is directly related to FEM. MBD
differs from FEM in its objective and birth. FEM is a numerical analysis method that is used to treat
field problems arising in continuous media. FEM solves many field problems written by differential
equations by means of structural and fluid dynamics, and thermal analysis methods. As mentioned
above, FEM has already been established as a fundamental tool of CAE.
MBD differs in that it treats dynamics of machines and mechanisms composed of many parts and
components as a collection of multiple rigid bodies. It involves hinges and joints which connect
between parts and components as a collection of constraints. It is a fundamental subject of study for
dynamic design and analysis. FEM solves differential equations of continuous media. As opposed to
FEM, MBD solves differential algebraic equations which describe equations of motion with constraint
equations for constrained mechanical and mechanism systems. Because of this, MBD is becoming a
fundamental tool of CAE. Fig. 2.4 shows the conceptual comparison between the FE model (Finite
element model) and the MB model (Multibody model).
(a) FE model (b) MB model
Fig. 2.4 Comparison of FE model and MBD model
31
A brief, broader view explanation will be given for the differences between FEM analysis and MBD
analysis. In FEM, a concerned field is divided into small elements as shown in Fig. 2.4(a). Equations
of motion are formulated first for a single meshed element. The equations of motion for each element
are recombined by considering connecting conditions among all divided elements. In this division,
connecting conditions in FEM are fairly simple. Whereas in MBD, a machine and mechanism system
is disassembled into several fundamental components as shown in Fig. 2.4(b). Each component is
described by the equations of motion of a rigid body. The equations of motion of the original system
are recombined by considering connecting conditions among all components. This recombining
process is similar to FEM, but the combining conditions in MBD called ‘constraint conditions’ make
it more complex than FEM.
Let’s consider this problem in more detail. In Fig. 2.4, the FE model is conceptually shown in (a)
and the MB model in (b). The FE model shown in 2.4 (a) will be explained first. In the upper part of
the figure, a body is supported by the rigid support at its lower part (with hatched lines at D) and is
subjected to a load at its upper part (arrows at the left upper corner at B) of the body. Now consider a
deformation analysis for this body. The body is divided into a number of small finite elements for
which supporting points and load applying points are specified at nodal points. For each meshed
element, representative points referred to as nodal points are provided to represent the behavior for
each element. In this example, elements are formed by either four joints or three joints. Equilibrium
equations for each element are formulated at nodal points within the element. Specifically observe
elements A and B. Since they have four and three nodal points respectively, these elements will also
have four and three equations. Since these elements share a common side, connectivity conditions can
be introduced into the corresponding nodal joints and then the equations of these representative points
in the elements are combined into one larger equation. After applying similar procedures to the all
elements, equations for the finite element model are recombined into large scale equations by
employing connectivity conditions (displacement constraints). The whole set of equations of the finite
element model will be solved when it is subjected to load conditions at the corresponding nodes of the
elements A and B, and is imposed by support conditions (or displacement constraints) at the
corresponding nodes of the element C.
32
The procedure above is summarized as:
1) A physical model is divided into small meshes to obtain a finite element model.
2) Governing equations for each meshed finite element are formulated. For treating motion
analysis, governing equations are equations of motion.
3) Governing equations are recombined by introducing displacement compatibility (connectivity)
conditions which yields the final set of equations.
4) The governing equations derived in 3) are solved under given load and support conditions to
calculate state variables at all nodal points. In the case of motion analysis, displacement, velocity,
and acceleration values are calculated.
For the MBD model, disassembling and assembling of the model are carried out in a way that is
similar to the division and recombination described in the FEM model. The upper part of Fig. 2.4(b)
shows the concerned physical model. The lower part shows the disassembled MBD model which is
obtained by disassembling the original mechanical model, component by component. Dynamic
equations of motion for components A and B can be described by two sets of rigid body equations of
motion with 6 degrees of freedom. When the two components are connected by displacement
constraint conditions, their motion is restricted. Component A is further constrained by the joint which
is fixed to the floor. A slider only moves in the translational direction along the direction of the guide
way which is fixed to the rigid floor. The slider can never move in the perpendicular direction with
respect to the guide way direction. It is understood that the slider part and the guide way part are
connected by the ‘translational joint’ displacement constraint. The set of formulated equations of
motion for all components and the displacement constraint equations are simultaneously treated. This
is the reassembling process.
An arrow shown in Fig. 2.4(b) indicates the force acting on the slider. A force is generally a
function of time and is called a load condition. The procedure above is summarized below:
1) The MB model is created by disassembling a physical model component by component.
2) Governing equations of motion are formulated for each disassembled body component.
3) Equations of disassembled body components are reassembled by using constraint equations
derived from the connectivity conditions between adjacent disassembled components. This results
33
in a single set of global equations. Equations of motion described by differential equations and
constraint equations described by algebraic equations together form a set of equations called
differential algebraic equations.
4) The governing equations derived in 3) are solved using given load and support conditions in the
machine and mechanism system to obtain state variables at each body component’s center of mass.
In the case of motion analysis, displacement, velocity, acceleration values, and constraint forces
are calculated.
From the above considerations, it has been found that there exist similar and dissimilar points
between the MB model and FE model analysis process*.
--------------------------------------------------------------------------------------------------
* In recent years, flexible multibody dynamics, the study of subject which treats components of
machines and mechanisms as elastic bodies, has been progressing. This study applies FEM's concepts
and procedures to the MB model.
3.1 Brief history of multibody dynamics
Sir Isaac Newton (1642-1727) established Newton’s equations of motion for a particle. Many great
dynamicists such as Euler, d’Alembert, Lagrange, Jourdain, and Kane, developed equations of motion
capable of applying multiple rigid body systems. Fig. 3.1 introduces these dynamicists, their
achievements and the historical dates for said achievements (1). When solving complex problems,
reformulations are needed that enable the systematic formulation of the equations of motion using
computers instead of formulating these equations by hand. This is the reconstruction in formulating
dynamics problems and has been an important step in the recent development of multibody dynamics
(2)
.
The foundation of multibody dynamics seems to be the application of mechanics theory to practical
problems. In the 1960s, multibody dynamics was born out of the necessity for analyzing practical
34
problems within the fields of satellites, aeronautical and space engineering, mechanisms and bio-
mechanisms, and because powerful computers started appearing.
Fig. 3.1 Principles and laws of mechanics(1)
Historically, multibody dynamics was agreed to be an independent subject of study in the branch
of mechanics at the symposium of the IUTAM (International Union of Theoretical and Applied
Mechanics) in 1977. Thus, it gained citizenship as a subject of study(3),(4). In 1980, the first fully
furnished software providing all necessary functions: modeling of analysis systems, simulations and
animations, appeared. Since 1990, the study of multibody dynamics has been rapidly developing and
includes of non-holonomic constraint problems, modeling, formulation and simulation of problems in
flexible bodies, frictions, collisions and control, formulation and simulation of the recursive method,
pre- and post-processing for data models, collaborations with CAD and strength analysis.
In September 2003, many researchers from all over the world attended the multibody dynamics
sessions of the 19th Biennial Conference on Vibration and Noise hosted by the American Society of
35
Mechanical Engineers (ASME), held at Chicago, Illinois, U.S.A. Starting in 2005, these sessions
became the 5th International Conference on Multibody System, Nonlinear Dynamics, and Control
(MSNDC) breaking away from the Conference on Vibration and Noise. Prompted by the active
research activities of multibody dynamics in ASME, the Asian Conference on Multibody Dynamics
(ACMD) was launched. The first ACMD was held in August 2002 in Iwaki, Japan and was followed
by conferences in consecutive even years (2nd in Seoul, Korea in August 2004; 3rd in Tokyo, Japan in
August 2006; 4th in Jeju, Korea in August 2008; 5th in Kyoto, Japan in August 2010; 6th in Shanghai,
China in August 2012; 7th in Busan, Korea July 2014). On the other side of the world, research
activities centered in Europe have been very active in recent years and many international conferences
are being held. These conferences will not be listed individually as they are plentiful and varied. Some
important information is being published on the ‘information of MBD international conferences’ web
pages (5). For further information, please refer to the web pages of: the IUTAM (International Union
of Theoretical and Applied Mechanics), IACM (The International Association for Computational
Mechanics) and ECCOMAS (The European Community on Computational Methods in Applied
Mechanics), EUROMECH (European Mechanics Society), IFToMM (International Federation for the
Promotion of Mechanism and Machine Science).
Lastly, a brief introduction will be given on the unified international conference on multibody
dynamics. The first Joint International Conference on Multibody System Dynamics (IMSD) was held
at Lappeenranta in Finland in June 2010. The conference has continued in consecutive even years,
being held biannually in Europe and Asia (2nd in Stuttgart, Germany in June 2012; 3rd in Busan, Korea
in July 2014). This conference is intended to unify the regional multibody dynamics conferences held
in Asia, Europe and America on a worldwide level. The third IMSD conference mentioned above was
held as a joint conference between the IMSD and the ACMD(6).
3.2 Recent progress of multibody dynamics
We look at the role of multibody dynamics from two view points, academia and industry. This
subject of study has a lot of power when it is used to solve dynamics problems that occur in industry.
Though the study of multibody dynamics in academia is based on classical mechanics, this contributes
36
to the development of mechanics and education in mechanics by reformulating equations of motion
and improving numerical computation so that it incorporates recent computer and computational
technologies.
On the contrary, the role from the industrial world is clear(7). Recently, in manufacturing, requests
for products that place less burden on the environment by resolving as many engineering problems as
possible in early stages of development (as described in section 2.1) have been completed. Because of
this, it has become important to establish a rapid-pace working methodology associated with other
connected sections by sharing and exchanging information whenever dealing with a series of processes
including planning, designing, developing, and manufacturing prep. To solve this problem, practical
methodology for predicting and verifying function, quality, efficiency, safety, economy and the like of
developed products with high accuracy is indispensable. Multibody dynamics is a practical
methodology which systemizes superb existing techniques and experiences, and makes guiding
principles and a course for designing and developing based on the principles of mechanics and
computer technology. This means that multibody dynamics is not just a simple dynamics for solving
mechanics problems, but is an active dynamics for solving engineering problems with extensive use
of computer science. From this consideration, multibody dynamics is also defined as ‘an advanced
practical dynamics for virtual design and test in virtual prototyping’. Fig. 3.2 shows the relationship
between virtual prototyping and multibody dynamics. As was seen previously, multibody dynamics
plays a central role in developing, designing, trial manufacturing and testing of products.
Verification using analysis model simulation SILS: Software in the Loop Simulation
HILS: Hardware in the Loop Simulation
CAD: Computer-Aided Design
MBD: Multibody Dynamics
CAE: Computer-Aided Engineering
RPT: Rapid Prototyping
Data analysis CAT: Computer-Aided Testing
for measurement
and control CSD: Control System Dynamics
Verification using
hardware and
motion simulation CIDATS: Computer Integrated Design,
model
Analysis and Test System
Fig. 3.2 Virtual prototyping and multibody dynamics(2)
37
Located at the center in Fig. 3.2 is computer integrated design, analysis and test system (CIDATS).
This system is composed of three basic subsystems; CAD, CAE and CAT. These all involve using a
computer to assist with design (CAD), analysis and evaluation (CAE), and testing (CAT). Related
fields of study that practically support these works are shown in the outer ring. These are CSD ( Control
System Dynamics), MBD (Multibody Dynamics) and RPT ( Rapid Prototyping) which correspond to
CAD, CAE and CAT respectively. In production development, CSD is a subject of study which
considers a design object as a system and enables one to build original system from a dynamical view
point. RPT is a subject of study that involves making prototypes as fast as possible to help find issues
that could not be analyzed otherwise. MBD is a subject of study which will become a platform of CAE
for the analysis of machines and mechanisms based on the study of dynamics. The technologies
situated at the connection points between these studies are SILS, HILS and Modeling shown in Fig.
3.2. SILS is realized as the coordination between CAD and CAE. In order to check and verify functions
within new software, it is inserted into an existing well-developed simulation loop to properly verify
it. HILS is realized by as coordination between CAE and CAT. In order to check the functions of new
actual hardware, it is inserted into a well-established existing simulation loop, thus total function of
hardware is functionally checked and verified through the loop simulation. Modeling is realized as the
coordination between CAT and CAD. SILS and HILS direct their outputs outwardly, whereas
Modeling receives input from outer wards which is provided based on data analysis of measurement
and control to elucidate the characteristics of a concerned system.
4. The fundamental concept and theory of multibody
dynamics
The fundamental concept and theory of multibody dynamics will be explained in this chapter (1).
MBD quantitatively treats positions, velocities and accelerations of bodies and forces acting on the
bodies. The reference frames and coordinates are fundamental in this treatment. Information such as
38
position, velocity, acceleration, and force can be described and measured quantitatively by introducing
reference frames and coordinates.
4.1 Typical formulation methods for multibody dynamics
Before delving into more detailed explanation, the more typical methods of multibody dynamics
shall be covered. Table 4.1 briefly summarizes two types of formulation methods for MBD. The types
of equations that will be treated and the types of problems that will be solved by the methods are also
shown. Newton-Euler (complete type) method is one type formulation which is straight forward and
is easy to understand. Since equations of motion are formulated by augmented variables, the method
is also called the augmented method. The Euler-Lagrange (minimum type) method is another type of
formulation, which has a high computational efficiency because of the minimum number of variables
needed to formulate the equations of motion. Recursive formulation belongs to this category. The
augmented method will be explained in section 4.8 and the recursive method in 4.9. The concept of
degrees of freedom will be explained in section 4.3.
Table 4.1 Equations of motion formulations for multibody dynamics(2)
Newton-Euler eq. (complete type)---augmented method
・6nb Non-constraint eqs. ・Differential algebraic eq.
・ q  6nb Cartesian ・effective for design and
coordinates control
Governing equations ・ m Independent coordinates
nb : No. of bodies ・p  6nb  m
m : No. of constraints
p : DOF Euler-Lagrange eq. (minimum type)---recursive method
q : No. of generalized ・q Eqs. of motion ・ p  q ; differential eqs.
coordinates (larger than p for closed ・ p  q ; differential algebraic
system) eqs.
39
 q  m independent coord.
p・・effective for simulation and
control
4.2 Reference frames and coordinates
Consider the three-dimensional space in which a body is moving within an orthogonal reference
frame as shown in Fig. 4.1. This reference frame is referred to as a Cartesian reference frame and is
characterized by the location of the origin O and by the orientation of three perpendicular axes. The
body’s orientation can be described within this reference frame. An axis having a scale is called a
coordinate. A unit vector pointed in the positive direction in each axis x, y, z is called the base vector
of the corresponding axis. The base vectors are represented by e x , e y and e z (or any combination of
three letters such as i, j and k , or I, J and K ). The reference frame is called frame O xyz or
frame x y z with or without the origin, O . A dextral frame is the frame in which a rotation about
the z -axis in the positive direction given by the right hand rule moves the x -axis toward the y -axis,
as shown by the curved arrow in Fig. 4.1. The dextral frame is used consistently in this book. This
three-axis coordinate system shall be called frame x y z. As shown in Fig. 4.1, the location of
an arbitrary point P in the Cartesian coordinate system is described by three coordinates:
px , p y and pz .
Fig. 4.1 Dextral Cartesian reference frame

and coordinate system Fig. 4.2 Motion of frame B with
p , p , p 
x y z of a point, P
respect to frame A
図変更要
40
In order to treat the motion of a body, consider the reference frame to be associated with the body’s
motion. The reference frame being considered is the body-fixed reference frame which is embedded
in the body. Consider a body in the global reference frame A xyz in Fig. 4.2. At the same time a
body-attached reference frame C xyz is assumed which perfectly coincides with frame A xyz
in its initial state. After the motion accompanying the rotation, the body-attached reference frame is
moved to frame B x y z . The motion of the body can be observed by the motion of frame B
embedded in the body. By measuring the motion of frame B with respect to frame A , the current
motion of the body which was initially located in frame A can be known. Because of this, two reference
frames, the global reference frame at rest during the body’s motion and the body-attached reference
frame embedded in the body are needed. These reference frames are distinguished from one another
by writing one as frame x y z and the other as frame x y z . The base vectors for each frame
are also distinguished using i, j and k , and i , j and k . The general motion of a body specified by
frame x y z with respect to frame x y z is a series of back-to-back translational
motions; frame x y z frame x y z followed by a rotational motion; frame
x y z frame x y z .
4.3 Coordinates, constraints and degrees of freedom
(1) Coordinates of a body
Description of motion requires the coordinates introduced and explained in section 4.2. Connecting
conditions between bodies of linked multibody systems are described by constraint equations.
Independent multiple bodies which can move freely in space will experience constrained motion if
constraint conditions are introduced. The degree to which a system can move freely depends on how
many degrees of freedom it has. These degrees of freedom represent the minimum number of
independent variables which can completely describe the motion of any given rigid body system. A
rigid body in space without any constraints has 3 independent position variables and 3 independent
angle variables, which means the body has 6 degrees of freedom. A system comprised of n rigid
bodies has 6n degrees of freedom since 6n physical coordinates are required to describe the
41
system.
The degrees of freedom of a

whole system is
Fig. 4.3 n rigid body system
Consider a two body system. When the two bodies can move freely, the system has 12 degrees of
freedom. But if constraints are introduced into the system, this number would be reduced.
(2) Constraints
Fig. 4.4 shows typical joints which specify geometrical (or displacement) constraints of machines
and mechanisms. There are many types of joints, fixed joints, universal joints, spherical joints, and
plane joints to name a few. Such constraints brought on by joints of multibody systems are described
by constraint equations. Constraint (or reaction) forces will appear between two constrained bodies.
Constraint equations will be explained in sections 4.8 and 4.9.Coordinates describing the configuration
of a rigid body system are called generalized coordinates. If the degrees of freedom of the generalized
coordinates for a rigid body system without constraints is represented by n , positions within the
system are described by n generalized coordinates. If m constraint equations are imposed by
constraint joints, n generalized coordinates are no longer independent. The system configuration is
uniquely described by p ( n m) independent generalized coordinates qk , k 1, 2, , p . This
system contains p degrees of freedom. Thus, p becomes the minimum number of independent
coordinates required to uniquely describe the system configuration.
42
(a) Fixed joint (b) Revolute joint (c) Translational joint
(d) Cylinder joint (e) Universal joint (f) Spherical joint
(g) Screw joint (h) Plane joint
Fig. 4.4 Examples of several kinds of joints
(3) Number of coordinates, number of constraints and degrees of freedom
Table 4.2 summarizes how many coordinates of a body will be reduced by specifying constraints
with typical joints shown in Fig. 4.4.
Table 4.2 Number of coordinates reduced by joint creations in three-dimensional problems

Joint type no fixed revolute translatio cylinder universal spherical scre plan
joint nal w e
by joint
s reduced
coordinate
Number of
translation 0 3 3 2 2 3 3 2 1
rotation 0 3 2 3 2 1 0 2 2
43
total 0 6 5 5 4 4 3 4 3
As an example, consider two freely moving bodies in three-dimensional space. When the 2 bodies
are constrained by a fixed joint, they become a single body. In this case, Table 4.2 shows that the total
number of coordinates for the original system n  6  2  12 are reduced to
p  n  m  12  6  6 for the new constrained system, because the reduction of the number of
coordinates is m  6 . For other joints, the reduced number of degrees of freedom must be counted
as well.
[Example 4.1] Consider a number of coordinates for a two link model in the Cartesian coordinate
system shown in Fig. 4.22 of section 4.8.
(Answer) Since this problem is planar, the link has three degrees of freedom. A system with two
links has n  3  2  6 degrees of freedom. If a revolute joint that has two constraint variables is
introduced to the connecting point, and considering m  2  2  4 , then the constrained two-link
model has p  n  m  6  4  2 degrees of freedom. If the revolute joint’s one degree of freedom
is supported an upper ceiling were to be included, then three additional degrees of freedom would need
to be accounted for. But since the ceiling is rigidly fixed to the ground, this number can be eliminated.
Also, if approached kinematically, it can be easily said that the system has 2 degrees of freedom
because the two links can freely rotate independently.
4.4 Transformation of coordinates
Consider a transformation of coordinates for a two-dimensional planar problem. Fig.4.5 shows
finite rotation which takes place about a fixed axis in the positive z direction. The original reference
frame O xy ( x y coordinates) is rotated about the z -axis by amount , producing frame B xy
(x y coordinates).
44
Fig. 4.5 Planar rotation of a rigid body
Fig. 4.6 Unit vectors in planar rotation of a rigid body
The x axis is rotated relative to the x -axis by . From Figs. 4.6 (a) and (b), the unit vectors i of
the x axis and j of the y axis can be written as
i cos i sin j (4.1a)
j sin i cos j (4.1b)
in terms of the unit vectors i and j . From (4.1a) and (4.1b), i and j can be written as
i cos i sin j (4.2a)
j sin i cos j (4.2b)
It is known that in equations (4.2a) and (4.2b), the unit vectors i and j of the x y coordinates can be
written by the unit vectors i and j of the x y coordinates. Equations (4.2a) and (4.2b) are said to
be a transformation of coordinates. A matrix obtained from the coefficients of equations (4.2a) and
(4.2b) is written as:

cos sin
A (4.3)
sin cos
This two dimensional A matrix is called the transformation matrix (of coordinates) in planar motion.
This matrix transforms the coordinates of a point in the B frame to those of the global frame*. The
matrix has the orthogonal property such as
A(A)T (A)T A I (4.4)
where I indicates a (2 2) identity matrix and is also written as I 2 .
-------------------------------------------------------------------------------------------------------------------------
45
OB B
* Normally, since the transformation takes place from frame B to O , the symbol A or A should be used. But, for
the sake of notation simplicity, the symbol A has been used.

-------------------------------------------------------------------------------------------------------------------------
[Example 4.2] Local frame O  xy is rotated by angle from global frame O  xy as shown in Fig.
4.7. The transformation matrix A of frame O  xy with respect to frame O  xy is given by
cos sin
A (a)
sin cos
In this case, answer the following questions:
(1) Obtain inverse matrix A 1 . Prove that A 1

AT .
(2) Calculate A , A 1 and A T numerically when 30 .
(3) Let the geometric vectors a and b be a [2 0]T and b [0 1]T in local frame O  xy .
Obtain components of a and b in global frame O  xy .
(4) Obtain vector c in local frame O  xy from vector c which is defined by c a b . How is c
written in global frame O  xy .
Fig. 4.7 Transformation of vectors coordinates
(Answer)
1
(1) Inverse matrix A of A  [aij ] is written as
1  a22 a12 
A 1    a11a22  a12 a21
  a21 a11 
,
46
where, a11  cos  , a22  cos  , a12   sin  , a21  sin  . By substituting   a11a22  a12 a21
 cos2   ( sin  )sin   1 into the above equation, A 1 becomes
1  a22 a12   cos  sin  

A 1  
  a21 a11    sin  cos  
which is identical to AT , thus A1  AT is obtained. This is called the orthogonal property.
(2) When   30   / 6 , a11  a22  3 / 2, a12  1/ 2, a21  1/ 2 . These are substituted into
the corresponding quantities to obtain
 3/2 1/ 2   3/2 1/ 2 

A , A T  A 1   
 1/ 2 3 / 2   1/ 2 3 / 2 
(3) Since a Aa , b Ab , the numerical values of A are substituted to obtain
3/2 1/ 2 2 3 3/2 1/ 2 0 1/ 2
a , b
1/ 2 3/2 0 1 1/ 2 3/2 1 3/2
(4) c a b and c a b are used to obtain
2 0 2 3 1/ 2 3 1/ 2
c , c \
0 1 1 1 3/2 3/2 1
For three-dimensional space problems shown in Fig. 4.8, the process for the transformation of
coordinates is considered as follows: similar to the two-dimensional case, an original reference frame
O xyz ( x y z coordinates) is rotated to frame B x y z (x y z coordinates) . The origins
of the two frames (frame O and frame B ) are coincident. Base vectors i , j , k of frame B can be
written in terms of base vectors i , j , k of frame O :
Fig. 4.8 Two base vectors

i , j , k and i , j , k
47
i a11i a21 j a31k (4.5a)
j a12 i a22 j a32k (4.5b)
k a13i a23 j a33k (4.5c)
which can be inverted to
i a11i a12 j a13k (4.6a)
j a21i a22 j a23k (4.6b)
k a31i a32 j a33k (4.6c)
The coefficient matrix of equations (4.6a) – (4.6c)

a11 a12 a13
A a21 a22 a23 aij (4.7)
a31 a32 a33
transforms the coordinates of frame B to those of frame O . This matrix A is a fundamental matrix
which is called transformation matrix (of coordinates). Component ai j ( i, j 1, 2,3) of A is known
as the directional cosine defined by cosine of angle ei e j . Here, ei i (i 1), j (i 2),
k (i 3) and e j i (j 1), j ( j 2), k ( j 3) , where i 1,2,3 individually corresponds to
x, y, z axis and j 1, 2,3 corresponds to x , y , z . There is a relation between the coefficient matrix
A( AOB ) in equation (4.7) and A BO : the coordinates of frame O are transformed to those of
frame B , as ABO (AOB )T . In this discussion, AT (transposed matrix of A ) is used as (AOB )T
for notational convenience. Orthogonal relation (4.4) which holds for a two- dimensional
transformation also holds for a three-dimensional transformation matrix A given by equation (4.7) .
In this case, I should be read as a (3 3) identity matrix, I 3 .
[Example 4.3] Consider two reference frames: global reference frame O  XYZ and local reference
frame B  xyz as shown in Fig. 4.9. Obtain transformation matrix A which translates local reference
frame B  xyz to global reference frame O  XYZ .
48
Fig. 4.9 Global reference frame O  XYZ and
body attached local reference frame B  xyz
(Answer) Since component aI j ( I X ,Y , Z , j x, y, z ) of A is defined by the directional cosine,
lIj cos E I e j , where EI e j is defined by the angle between I axis of frame O and j axis
of frame B ,
1 1 3
lX x cos 60 , lX z cos 90 0, lY z cos 60 , lZ z cos 30
2 2 2
are obtained. Thus, A can be written as
1/ 2 a12 0
A a21 a22 1/ 2
a31 a32 3/2
Since A has the property AAT I 3 , then
1/ 2 a12 0 1/ 2 a21 a31 1 0 0
T
AA a21 a22 1/ 2 a12 a22 a32 0 1 0
a31 a32 3/2 0 1/ 2 3/2 0 0 1
must holds. By equating each corresponding component of the matrices, the following can be obtained:
49
1 1 1
(1,1) a122 1, (1, 2) a21 a12 a22 0, (1,3) a31 a12 a32 0
4 2 2
1 2 2 1 3
(2,1) a21 a12 a22 0, (2, 2) a21 a22 1, (2,3) a21a31 a22 a32 0
2 4 4
1 3 3
(3,1) a31 a12 a32 0, (3, 2) a31a21 a32 a22 0, (3,3) a312 a322 1
2 4 4
From element (1,1), a12 3 / 2 . Element (1,2) combined with a12 3 / 2 and element (2,2) give
a22 3 / 4, a21 3/ 4 . Element (1,3) combined with a12 3 / 2 and element (2,3) combined
with a22 3 / 4 and a21 3/ 4 give a32 1/ 4 and a31 3 / 4 . The above obtained values
also automatically satisfy elements (2,1), (3,1), (3,2) and (3,3). Here, I X , Y , Z correspond to
I 1, 2,3 and j x, y , z correspond to j 1, 2,3 . From the above results, the following matrix can be
produced:
1/ 2 3/2 0
A 3/ 4 3/4 1/ 2 (4.8)
3/4 1/ 4 3/2
4.5 Position, velocity and acceleration
(a) Position and position vector
Take two points O and P in a two dimensional plane as shown in Fig. 4.10. A vector directed from
point O to P is written as rP . A vector directing from point B to P is written as s P . Points B and P are
both located on body B . rB is a position vector which describes the position of the origin B of
reference frame B attached to body B and rP is a position vector of an arbitrary point P . These vectors
are defined with respect to global reference frame O .
O
50
Fig. 4.10 Position of a body and a point on
the body (2 dimensional case)
The global reference frame is usually attached to an immovable space. In this case, frame x y
(which can also be called frame O xy ) is an observer. Since body-attached frame x y is fixed
to a body, it moves simultaneously with the body. It is assumed that the x axis was placed in parallel
with the x axis before motion and it moves as shown in Fig. 4.10. Since vector s P is attached to the
body, it can be written as s P [ sPx sPy ]T with respect to the coordinates of the body-attached frame
x y . This is written as
sP sPx i sPy j (4.9)
Which uses the unit vectors of body-attached frame x y , where i and j are unit vectors of the
x and y axes respectively. Vector s P shown in Fig. 4.10 is also written as s P [ sPx sPy ]T by
using the coordinates of global frame x y . By substituting equations (4.1a) and (4.1b) into (4.9),
the following equation can be obtained:
sP ( sPx cos sPy sin )i ( sPx sin sPy cos ) j (4.10)
which can also be written as
cos sin sPx

sP
sin cos sPy
The above relation can be written as
sP A sP (4.11)
by using s P [ sPx sPy ]T and s P

[ sPx sPy ]T and where matrix A is transformation matrix
defined by equation (4.3).
A position vector of an arbitrary point P on body B observed from global coordinate frame
x y is written as
rP rB sP (4.12)
which is substituted into equation (4.11) to obtain
rP rB As P (4.13)
51
Next the 3 dimensional case shown in Fig.4.11 will briefly be considered. For the position of the
point on body B in 3 dimensional space, equations in the form of (4.11), (4.12) and (4.13) can also
be obtained. In these equations, the corresponding quantities in 3 dimensional space should be used.
This means that rB and rP are the position vectors of reference point B and arbitrary point P
observed from frame O in the global frame x y z coordinates, and s P represents vector s P in
the body-attached frame x y z . In three-dimensional problems, a three-dimensional
transformation matrix A (equation (4.7)) should be used.
Fig. 4.11 Position of point P on body B
[Example 4.4] Consider position vector rP directed from origin O of global frame O  XYZ
to point P as shown in Fig. 4.9. If the position vector can be expressed as rP  12I  12J  8K using
base vectors I, J and K of global frame, how can this vector be written using base vectors i, j and k of
local frame B  xyz ?
(Answer) rP is written as rP  [rPx , rPy , rPz ]T  [15, 15, 10]T in terms of coordinates of global frame
O  XYZ . Inverse matrix A of A becomes

T
1/ 2 3/ 4 3/4
T
A 3/2 3/4 1/ 4
0 1/ 2 3/2
from equation (4.8). Then column vector rP  [rPx , rPy , rPz ]T of rP  rPx i  rPy j  rPz k can be written
as
52
 1/ 2 3 / 4 3 / 4  12  2 3  3  0.464
   
rP  AT rP   3 / 2 3/4 1/ 4  12   9 3  2   13.59 
   
 0 1/ 2 3 / 2   8  6  4 3  12.93 
(b) Velocity and velocity vector
The absolute velocity of an arbitrary point P on a body moving in two-dimensional space can be
obtained by differentiating equation (4.13):
rP rB A sP (4.14)
Two-dimensional transformation matrix A is differentiated with respect to time to obtain

A
A A (4.15)
sin cos
A (4.16)
cos sin
Equation (4.15) is substituted into (4.14) to obtain:
rP rB A sP (4.17)
The angular velocity vector ω in the x y plane about the z -axis can be written as
ω k (4.18a)
where k is a unit vector of the z -axis. If ω is described in terms of three-dimensional column vector,
this can be written as
ω [0, 0, ]T (4.18b)
By using this angular velocity vector, the following equation can be obtained:
A sP A sP ω sP ω( A s P ) (4.19)
, where ω is the tilde matrix of column vector ω which is given below.
The tilde matrix a of vector a [ax ay az ]T is defined as
53
0 az ay
a az 0 ax (4.20)
ay ax 0
which is a skew symmetric matrix and plays the role of the outer-product operator. In the calculation
of ω s P and ω(As P ) , the original two-dimensional vectors s P [ sPx sPy ]T and s P [ sPx sPy ]T
are replaced with three-dimensional vectors, s P [ sPx sPy 0]T and s P [ sPx sPy 0]T , and the
original two-dimensional matrix A given by equation (4.3) is replaced with the three-dimensional
matrix:
cos sin 0
A sin cos 0 (4.21)
0 0 1
and outer operation takes place to obtain the three-dimensional vector. The first two elements of the
three-dimensional vector are extracted to form the corresponding two-dimensional vector. Outer
product ω s P is alternatively written as ωs P ω s P . Then, equation (4.17) can also be written as
rP rB ω sP (4.22)
This equation indicates that the absolute velocity of point P on a rigid body can be expressed by the
absolute velocity of the reference point B and the relative velocity between the two points. This is
expressed as
vP vB vP / B (4.23)
in terms of velocity vectors, where v B and v P are absolute velocities of the reference point B and
arbitrary point P , and v P / B is the relative velocity of point P with respect to point B . v P / B is
defined by
vP / B ω sP (4.24)
Next, the three-dimensional case will be briefly considered. For motion in three-dimensional space,
the geometry and vectors shown in Fig. 4.11 will be considered. Equation (4.14) also holds for the
corresponding vectors and matrix in three-dimensional space.
For three-dimensional transformation matrix A ,
AAT ω (4.25)
holds. Skew symmetric matrix ω is the tilde matrix formed by the angular velocity vector
54
ω [ x y z ]T . It is built by the definition of equation (4.20). The angular velocity vector ω is the
rotational velocity of body B and frame B , which is fixed to body B , with respect to global frame O
and is written by the coordinates of the global reference frame. By post-multiplying A by equation
(4.25), the following can be obtained:
A ωA (4.26)
Angular velocity vector ω is written in terms of coordinates of body-attached reference frame ω as
ω AT ω (4.27)
For ω , the relation
AT A ω (4.28)
holds. Pre-multiply both sides of equation (4.28) by A to obtain:
A Aω (4.29)
From equations (4.26) and (4.29), the following equation can be obtained:
A ωA Aω (4.30)
This is called Poisson equation. From the last two equations in (4.30), two equations can be
obtained:
ω Aω AT (4.31a)
ω AT ω A (4.31b)
By substituting equation (4.26) into equation (4.14) using three-dimensional vectors and the three-
dimensional matrix, the following equation can be obtained:
rP rB ω As P rB ωs P rB ω sP (4.32)
which has the same form of equation (4.22) for the two-dimensional case. This equation can also be
written in terms of the angular velocity of the coordinates of the body-attached frame ω as
rP rB Aω s P rB A (ω sP ) (4.33)
[Example 4.5] Fig. 4.12 shows a motor set up with a disc on the rotational platform. The disc is
fixed to the top of a shaft. The electric motor is running at a constant speed of 120 rev / min in the
direction shown. Its housing and mounting base are initially at rest. The entire assembly is set in
rotation about the vertical Z axis at a constant rate N  60 rev / min with a fixed angle   30  .
55
When OC  24 cm and CA  12 cm (3),
(1) Determine the angular velocity of the disc.
(2) Determine the velocity of point A at the top of the disc for the instance shown below.
Fig. 4.12 Motion of disc attached to

electric motor shaft
(Solution) Reference frame xyz with base vectors i , j and k is attached to the motor shaft with the
z -axis coinciding with the rotor axis and the x -axis coinciding with the horizontal axis through O
about which the motor tilts. The Z -axis is vertical and carries the unit vector K j cos k sin .
(1) The motor has angular velocity 0 120 2 / 60 4 rad/s about the z -axis and the mount
has 2 rad/s about the Z axis, respectively. The rotor and disc have two components of
angular velocity. Thus, the angular velocity becomes
ω ω0 Ω 0 k K ( cos ) j ( 0 sin )k
Given values are substituted to obtain ω ( 3 ) j (5 )k rad/s .
(2) The position vector of point A for the instance shown in Fig. 4.12 is
rA 12 j 24k cm
From equation (4.24) the velocity of point A is
0 5 3 0
vA ω rA ωrA 5 0 0 12 18.43 i cm/s
3 0 0 24
(c) Acceleration and acceleration vector
The acceleration of a point P on body B moving in two-dimensional space can be obtained by
differentiating equation (4.13) with respect to time:
rP rB A sP A sP (4.34)
Since differentiation of A with respect to time in two-dimensional space becomes
A A (4.35)
56
equation (4.34) can be arranged as
2
rP rB A sP A sP (4.36)
The angular velocity vector ω given by equation (4.18a) and the angular acceleration vector
α ω k are use d to derive
A sP α sP (4.37)
2
A sP ω (ω s P ) (4.38)
Thus equation (4.36) becomes
rP rB α sP ω (ω s P ) (4.39)
This is can be re-written as
aP aB α sP ω (ω s P ) (4.40)
in terms of the acceleration vectors a P rP and a B rB , where (a P / B )n ω (ω s P ) and
(a P / B )t α s P are the normal and tangential components of the relative acceleration of point P
relative to reference point B .
Next, the three-dimensional case will briefly be considered. In the three-dimensional case, the
equations will have the same form as equations (4.39) and (4.40). Equation (4.39) can be written in
terms of ω , α and s P , which are coordinates of the body-attached frame:
rP rB A (α sP ) A (ω (ω s P )) (4.41)
where angular acceleration α of body B is defined by α in the coordinates of body attached frame B ,
as
α AT α (4.42)
[Example 4.6] For the problems given in [Example 4.5],
(1) Determine the angular acceleration of the disc.
(2) Determine the acceleration of point A at the top of the disc for the instance shown in Fig. 4.12.
(Solution)
(1) The angular acceleration of the disc α is given by
57
0 3 0
α ω Ωω 0 0 3 68.4i rad/s 2
3 0 0 5
(2) The acceleration of point A is

aA ω rA ω (ω rA ) αrA ωv A
0 0 0 0 0 5 3 18.43 0
0 0 68.4 12 5 0 0 0 2551.1 cm/s 2
0 68.4 0 24 3 0 0 0 1135.9
4.6 Mass properties
Generally, the reference frame is taken in an arbitrary direction at an arbitrary point of a body, but
in many cases, it is taken along the body’s principal direction at its center of mass.
(1) Mass and center of mass
Consider a rigid body C in the inertia reference frame (global frame) O xyz shown in Fig.
4.13. The rigid body is thought to be filled with infinitesimal elements composed of this material
continuously in space.
Fig. 4.13 Mass property calculations of a rigid body
The infinitesimal mass dm located at point P is written as dm b dV where b is the mass

58
density of the body. The mass of the body can be calculated as
m dm b dV (4.43)
V V
The center of mass can be calculated as

1
rC r P dm (4.44)
m V
(2) Definition of the inertia matrix
Consider a body-attached frame C x y z which is fixed to a body at its center of mass. Vector
T
ρ is written in terms of coordinates of frame C as ρ x y z . Inertia matrix J with respect to
the axis of frame C is defined by
J ρ T ρ dm ρ ρ dm (4.45)
V V
This is expressed in the component form as

J xx J xy J xz
J J yx J yy J yz (4.46)
J zx J zy J zz
J xx ( y )2 ( z ) 2 dm , J xy J yx x y dm
V V
J yy ( z )2 ( x ) 2 dm , J xz J zx x z dm (4.47)
V V
J zz ( x )2 ( y ) 2 dm , J yz J zy y z dm
V V
where diagonal elements J xx , J yy , and J zz are called mass moments of inertia and off-diagonal
elements J xy , J yz and J zx are called products of inertia. It is known that there exists a unique direction
of frame in which the all products of inertia vanish. This set of axes is called the principal axes.
Equations of motion are often formulated with respect to the principal axes. In table 4.3, formulas of
mass moments of inertia of a body about its center of mass with respect to the principal axes are
summarized for several body shapes.
Direction vector ρ in Fig. 4.13 is described by the algebraic vectors ρ and ρ defined by
coordinates of body-attached frame C fixed at the body’s center of mass and global frame O ,
respectively. They are related to each other using the equation, ρ Aρ where the transformation
matrix A is used to transform it from frame C to frame O . The inertia matrix with respect to
global frame J becomes

59
J ρρdm A( ρ ρ dm) AT AJ AT (4.48)
V V
J is a unique quantity of a body, whereas J varies its values with the change of the attitude of the
body.
Table 4.3 Moments of inertia of the body about the respective axes
Name Figure Moments of inertia Symbol
2
Ix  mR 2 R  radius
Sphere 5
2 R5  r 5 R  outer radius
Spherical Shell Ix  m
5 R3  r 3 r  inner radius
2 R  radius
Hemisphere Ix  I y  Iz  mR 2
5
I x  m  b2  c 2 
1
5 a  x - intersept
I y  m  c2  a2  b  y- intersept
1
Ellipsoid 5
c  z - intersept
I z  m  a 2  b2 
1
5
1
Ix  mR 2
2 R  radius
I y  I z  m  3R 2  l 2 
Cylinder 1
l  length
12
R  outer radius
m  R2  r 2 
Circular Cylindrical 1
Ix  r  inner radius
2
Shell I y  I z  m  3R 2  3r 2  l 2 
1 l  length
12
3 R  radius of basecircle
Right Circular Ix  mR 2
10
I y  I z  m  4R 2  h2 
3 h = height
Cone
80
60
m b2  c 2 
1
Ix  a  x - length
12
I y  m  c2  a2 
Rectangular 1 b  y - length
12
Parallelepiped c  z - length
I z  m  a 2  b2 
1
12
m  4 R 2  3r 2 
1
Ix 
4 R  outer radius
I y  I z  m  4 R 2  5r 2 
Circular Ring 1
r  inner radius
8
[Example 4.7] A homogeneous rectangular parallelepiped box of with a mass of 5 kg is shown in
Fig. 4.14.
(1) Determine the inertia matrix of the box relative to frame A x y z . Then, consider the intermediate
frame A x y z .
(2) Determine the inertia matrix of the box relative to frame A xyz (4) using the intermediate frame
A x y z .
Fig. 4.14 Moment of inertia relative to specified reference frame
(Solution) Table 4.3 lists inertia properties about centroidal axes of several body shapes. From the
table, inertia properties about centroidal axes of the box can be calculated. These inertia properties
may be transferred to a coordinate system whose origin is the designated corner A by means of the
parallel axis theorem (p.175-177 in reference (4)).

61
(1) Point A’s coordinates relative to the parallel centroidal axes are (5, 7.5, 2.5) in meters. By
applying the parallel axis theorem, the following can be calculated:

1
Jx x (5)(152 52 ) (5)(7.52 2.52 ) 416.7
12
1
Jy y (5)(102 52 ) (5)(52 2.52 ) 208.3
12
1
Jz z (5)(152 102 ) (5)(7.52 52 ) 541.7
12
Jx y 0 (5)( 5)( 7.5) 187.5

Jx z 0 (5)( 5)( 2.5) 62.5
Jy z 0 (5)( 7.5)( 2.5) 93.75
(2) Frame A xyz can be determined from frame A x y z using the following method. First, rotate
frame A x y z about the negative z axis through an angle , thereby producing an intermediate
coordinate system A x y z whose y axis is the diagonal of the upper surface. Then, rotate
A x y z about the x axis through an angle in order to bring the y axis into coincidence with the
y axis. Using trigonometry, angles and can be calculated:

10 5
tan 1 ( ) 33.690 , tan 1 ( ) 15.501
15 10 2
152
Since the successive rotations are about the body-fixed frame, the rotation matrix is R A T where A
is the transformation matrix.

1 0 0 cos( ) sin( ) 0 0.8321 0.5547 0
R 0 cos sin sin( ) cos( ) 0 0.5345 0.8018 0.2673
0 sin cos 0 0 1 0.1483 0.2224 0.9636
The transformation of moment of inertia is taken as
J AT J A RJ RT
Non-diagonal elements of J are formed by placing minus signs on the calculated values above. Then,
416.7 187.5 62.5 525.69 23.15 6.44
T T
J RJ R R 208.3 93.75 R 72.92 17.35
sym 541.7 sym 568.10
Thus, the moments and products of inertia are
J xx 525.69, J yy 72.92, J zz 568.10 kg m2
J xy 23.15, J xz 6.44, J yz 17.35 kg m2
62
4.7 Forces and torques
(1) Equivalent system of forces and torques
Force is a physical quantity which is characterized by the point where the force is acted upon, its
direction, sense and magnitude. The direction of the force is in-line with the application of the force.
There are two types of forces: internal and external. The forces arising from within a body are called
internal forces, and the forces applied from outside the body are called external (or applied) forces.
Constraint forces located at joints are called reaction forces which are fundamentally categorized as
internal forces. External forces are further split into passive and active forces. Passive forces are forces
exerted in a device of springs and/or dampers without power sources, whereas active force is a force
exerted in actuators with power sources.
Consider force f i being acted on point P as shown in Fig. 4.15. The moment about an arbitrary
point O by the application of the force becomes O ni rOP fi . Thus, the line of application of the
force and the point about which the moment is considered is necessary to make a moment. This
moment is categorized as a sliding vector. A couple, as shown in Fig. 4.16, is a pair of parallel forces
with the same magnitude and opposite directions and creates a vanishing resultant force and torque
n ρ f . In this torque, ρ is a directed point - point vector from an arbitrary point B on line f
to an arbitrary point A on line f . The magnitude of n is n d f , where d is the distance between
lines f and f , and f f . The moment produced by the couple is identical along every point and
is called a free vector.
Fig. 4.15 Moment produced by a force Fig. 4.16 Torque produced by a couple
63
If a force acts on a body, translation along the direction of the force and rotation occur. The original
force system can be replaced by an equivalent system of a couple and a force representing identical
effects. Fig. 4.17(a) shows force f acting on the body at point A . Fig. 4.17(b) shows two parallel forces
f and f acting on the body at point B . Since the two forces essentially cancel each other, this system
is identical to the system of Fig. 4.17(a). For the system shown in Fig. 4.17(b) it is also understood
that f and f acting on the body at points A and B together make a couple that produce torque. In
addition to the couple, the force f is acting on the body at point B . Thus, an equivalent force system is
shown in Fig. 4.17(c).
Multiple forces acting on a body at different points will be converted to an equivalent force and a
torque produced by the couple. Forces f1 , f2 , and fm acting on a body are shown in Fig. 4.18(a).
As an equivalent force system, the force f acting on the body at its center of mass C , and the torque
produced by the couple n as shown in Fig. 4.18(b) will be obtained. In this case, force f and torque
m
n , which is a free vector, produced by the couple are calculated by f fi and
m m i 1
n ni ρi fi , respectively.
i 1 i 1
(a) Original force system (b) Equivalent system 1 (c) Equivalent system 2
Fig. 4.17 Equivalent force systems with the force acting at point A
64
(a) Original force system (b) Equivalent force system
with multiple forces from multiple forces
Fig. 4.18 Equivalent force system composed of a single force acting at the center of mass
and a coupled torque converted from multiple forces acting on a body
単一の力と偶力モーメントへ置換した等価系
(2) Generalized forces
An external force f acting on a body at point P is shown in Fig. 4.19. Generalized coordinates
in terms of the position and attitude vectors of the body are used: q [rCT θ T ]T . In this vector rC
indicates the coordinates of the position vector of center of mass C with respect to the global reference
frame, and θ indicates the coordinates with respect to frame C of the attitude vector of body C
relative to global frame O . Point P can be described as
Fig. 4.19 Generalized force obtained from force f acting on body C
rP rC A ρP (4.49)
where ρ P are the coordinates of vector ρ P with respect to frame C , and A is the transformation
matrix which transforms the coordinates of frame C to those of frame O . Equation (4.49) can be
further modified to appear as:
rP rC A ρP θ (4.50)
Thus virtual works calculated at point P and at point O can be equated:
We f T rP QT q [QTr QT ]T q (4.51)
65
Then, generalized forces Q r and Q with respect to rC and θ become
Qr f
(4.52)
Q ( A ρ P )T f ρ P AT f
Fig. 4.20 shows force elements such as springs, dampers and actuators which are connected at
points Bi and B j . The spring constant, damping coefficient, and actuator force are represented by k ,
c and f a respectively. The natural length of the spring is l0 .
Fig. 4. 20 A spring-damper-actuator system
A point-point vector l directed from points Bi to B j is written as
l rj A js j ri A i si (4.53)
in terms of the coordinates of frame O . The current length of the spring is defined as l l T l and
time rate of the spring length is l (l T / l ) l lˆT l . Where, lˆ indicates the unit vector directed from
points Bi to B j .
The force along the spring, damper and actuator line is
f k (l l0 ) cl fa (4.54)
Virtual work done is given by
We f l QiT q i Q jT q j (4.55)
From this equation, the generalized forces Qi [QTir QTi ]T and Q j [QTjr QTj ]T of the spring,
damper and actuator with respect to its center of mass are written as
66
Qir f l늿
, Qi f si AT l , Q jr Qir , Qj Qi (4.56)
[Example 4.8] Fig. 4.21 shows a weight supported by a spring and a damper at point B . The other
side of the spring and the damper is attached to the origin of global frame O . Determine the equivalent
spring and damper forces with respect to the center of mass of the weight.
Fig. 4.21 A weight supported by a spring-damper system
(Solution) Set the body-attached frame G x y z at the center of mass. Position vectors of points
G and B from point O are denoted by rG and rB . A vector from point G to B is denoted by
s B . The force subjected on the spring and damper at point B on the body is f B f B u where u
indicates the unit vector from point O to B and is written as u rB / rB . The magnitude of the
force due to the spring and the damper is f B k ( rB l0 ) c rB where l0 indicates the natural
length of the spring. Then, the equation of motion with respect to the center of mass G is written as
m rG fB u mg k (4.57a)
where m is the mass of the body and k is the base vector of the z -axis of the frame. The rotational
equation of motion of the body about point G is written by using equation (4.56) in terms of
coordinates of the body-fixed frame G as
Jω ωJω s B AT ( f B u ) (4.57b)
67
4.8 Basics of the augmented method
(1) Coordinates
Since the formulation of equations of motion using Cartesian coordinates is straightforward and
easy to understand, it has become a standard method within university education. It is referred to as
the augmented (or Lagrangian) method. For simplicity, consider a planar two link system shown in
Fig. 4.22. Link ① is connected to a ceiling at point A by a revolute joint 1. Link ② is connected to
link ① at point P by a revolute joint 2. In Cartesian coordinates, position vectors for the center of
masses of rigid link ① and rigid link ② are denoted by (r1 , 1 ) and (r2 , 2 ) where 1 and 2 are
rotational angles.
Fig. 4.22
Cartesian coordinate system
Motion within the two link system is completely determined, if r1T 1 x1 y1 1 is solved
in link ① and r2T 2 x2 y2 2 is solved in link ②, respectively. Equations of motion of
the system are described by defining generalized coordinates of the two link system as
q [q1 q2 q6 ]T [q1T q 2T ]T [[ x1 y1 1 ] [ x2 y2 2 ]]T (4.58)
Variation of rotation variable becomes because of planar motion (In the three-dimensional
case, this does not hold). Variation of equation (4.58) is written as
q [ q1 q2 q6 ]T [ q1T q 2T ]T [[ x1 y1 1 ] [ x2 y2 2 ]]T (4.59)
(2) Kinematics
68
Constraint equations for the position vectors of connecting point A fixed to the ceiling and of
connecting point P between links ① and ② are described. The two joints at A and P are called
Joint1 and Joint 2 , respectively. Four constraint equations are given as

x1 l1 cos 1 x0
C 0 (4.60)
Joint1 y1 l1 sin 1 y0
( x2 l2 cos 2 ) ( x1 l1 cos 1 )
C 0 (4.61)
Joint 2 ( y2 l2 sin 2 ) ( y1 l1 sin 1 )
Equations (4.60) and (4.61) are arranged in vector form as

C1 (q) x1 l1 cos 1 x0
C2 (q) y1 l1 sin 1 y0
C q 0 (4.62)
C3 (q) x2 l2 cos 2 x1 l1 cos 1
C4 (q) y2 l2 sin 2 y1 l1 sin 1
In this formulation, the number of variables is n 6 and the number of constraints is m 4 . Thus
the degrees of freedom is calculated as p n m 2 . The Jacobian matrix of constraint equations
Cq C / q becomes
1 0 l1 sin 1 0 0 0
0 1 l1 cos 1 0 0 0
Cq Cq1 Cq 2 (4.63)
1 0 l1 sin 1 1 0 l2 sin 2
0 1 l1 cos 1 0 1 l2 cos 2
[Example 4.8] Compute the Jacobian matrix of constraint equations (4.62) and confirm that the
result becomes equation (4.63).
(Solution) By computing C q
C1 C1 C1 C1 C1 C1
q1 q2 q6 x1 y1 2
C2 C2 C2 C2 C2 C2
Cq q1 q2 q6 x1 y1 2 ,
C4 C4 C4 C4 C4 C4
q1 q2 q6 x1 y1 2
one can obtain the required results. The first three elements (1,1), (1,2) and (1,3), and the last three
elements (4,4), (4,5) and (4,6) are obtained as
69
C1 C1
( x1 l1 cos 1 x0 ) 1, ( x1 l1 cos 1 x0 ) 0,
x1 x1 y1 y1
C1
( x1 l1 cos 1 x0 ) l1 sin 1
1 1
C4 C4
( y2 l2 sin 2 y1 l1 sin 1 ) 0, ( y2 l2 sin 2 y1 l1 sin 1 ) 1,
x2 x2 y2 y2
C4
( y2 l2 sin 2 y1 l1 sin 1 ) l2 cos 2
2 2
The other elements can also be calculated to obtain equation (4.63).
(3) Dynamics
Equations of motion for the two rigid bodies; link ① and link ② can be described as
m1 0 0 x1 0
0 m1 0 y1 mg , M1 q1 Q1 (4.64)
0 0 J1 1
0
and
m2 0 0 x2 0
0 m2 0 y2 mg , M 2 q2 Q2 (4.65)
0 0 J2 2
0
The right side equations in (4.64) and (4.65) are in matrix format on the left side equations.
Equations of motion of the constrained two link system can be written in the form
Mq CTq λ QA 0 (4.66)
by using equations (4.63), (4.64) and (4.65) with an undetermined Lagrange multiplier
T
λ A
x
A
y
P
x
P
y . In this equation, M diag[M1 M 2 ] is the mass matrix,
Cq Cq1 Cq 2 is the constraint Jacobian matrix and Q A [Q1T QT2 ]T is the external force vector.
Combining the above constrained equations of motion and constraint equations, the following set of
system equations can be obtained.
re Mq CTq λ Q 0
(4.67)
C q 0
This is a standard form for describing equations of motion and constraint equations which also applies
to general machines and mechanism systems. These are the fundamental equations that will be solved.
70
[Example 4.9] For the problem shown in Fig. 4.22, determine the system equations corresponding
to (4.67).
(Solution)
Constrained equations of motion corresponding to re Mq CTq λ Q 0 can be written as
m1 x1 1 0 1 0 0
m1 y1 0 1 0 1 A
x mg
A
J1 1 l1 sin 1 l1 cos 1 l1 sin 1 l1 cos 1 y 0
P
m2 x2 0 0 1 0 x 0
P
m2 y2 0 0 0 1 y mg
J2 2
0 0 l2 sin 2 l2 cos 2 0
Constraint equations C q 0 are given in equation (4.62).
4.9 Basics of the recursive method
As an alternative approach, the recursive method(5) will be introduced here. Since the velocity
transformation formula(6) is present in this approach, high speed computation can be achieved.
RecurDyn / Professional adopts this formulation approach.
(1) Coordinates
If relative coordinates are selected properly, equations of motion of a multibody system can be
written in a recursive way. This reduces the number of variables for describing the equations. The
equations obtained in this way are called recursive equations of motion. For simplicity, consider a
planar two link system which is supported by the ceiling at one end as shown in Fig. 4.23. This is the
same model treated in section 4.8. Link ① is connected to the ceiling at point A by revolute joint 1.
Link ② is connected to link ① at point P by revolute joint 2. Body-attached frames of link ①
and frame ② are set at each center of mass as shown in Fig. 4.23.
71
Fig. 4. 23 Relative coordinate system
(2) Kinematics
Let the position of link ①’s center of mass be x1 , y1 , the rotational attitude 1 , and those for
link ② be x2 , y2 and 2 with respect to a global x y frame as shown in Fig. 4.23.
(a) Position relations
Since the coordinates of point A are ( x0 , y0 ) (0, 0) , the coordinates of link ① at its center
of mass ( x1 , y1 ) can be written using 1 as
x1 l1 cos 1 x0 cos 1
l1 (4.68)
y1 l1 sin 1 y0 sin 1
Relations, associated with point P between link ② at its center of mass and link ① at its center of
mass can be written as

x2 x1 cos 1 sin 1 l1 cos 2 sin 2 l2
, r2 r1 A1l1 A 2 l 2 (4.69)
y2 y1 sin 1 cos 1 0 sin 2 cos 2 0
Component equations (4.69) are re-written from the matrix form as in the second equation of equation
(4.69). In this equation ri (i 1, 2) indicates the position vector of the center of mass of link i , l i
is the position vector of point P with respect to the origin of link i , which is written by body-attached
frame i , and A i is the transformation matrix of link i with respect to the global frame.
xi l1 l2
ri , l1 , l2 (4.70)
yi 0 0
cos i sin i
Ai (4.71)
sin i cos i
Position vector ri of the center of mass of link i is described by the relation between the
coordinates of global reference frame ri and body-attached frame ri as ri A i ri and ri ATi ri .
For rotational attitude in planar motion, the global coordinate i and the body-attached coordinate
i are equal, that is i i .
72
Relative rotation angle can be written using the two rotational angles 1 and 2 of link ① and
② as
2 1 (4.72)
(b) Velocity relations
Velocity relations between links: After applying time differentiations of (4.68) and (4.69), the
following equations are obtained:
x1 l1 sin 1
1 , r1 G1 1 (4.73)
y1 l1 cos 1
and
x2 x1 cos 1 sin 1 l1 cos 2 sin 2 l2
1 2 , (4.74a)
y2 y1 1 sin 1 cos 1 0 2 sin 2 cos 2 0
r2 r1 1 A1, 1l1 2 A2, 2 l 2 r1 1 (G1 G2 ) G2 (4.74b)
where, for i 1, 2 , Ai , i Ai i is obtained. If Gi Ai , i li is defined, G1 and G 2 are

l1 sin 1 l2 sin 2
G1 , G2 (4.75)
l1 cos 1 l2 cos 2
In body-attached frame i , ‘Velocity’ r i is defined in terms of the exact velocity ri [ xi yi ]T of
point i , which is described by global coordinates in transformation matrix A i as
xi cos i sin i xi
, ri ATi ri , ri Ai r i (4.76)
yi sin i cos i yi
where r i is not the exact velocity (i.e. r i ri dri dt ), but shall be simplified and labeled as
velocity r i . Pre-multiplying both sides of equation (4.73) by A1T and both sides of equation
(4.74b) by AT2 , the following equations are obtained:

0
r1 A1T G1 1 1 (4.77)
l1
T
r2 A12 r1 (AT2 G1 AT2 G 2 ) 1 AT2 G 2 (4.78)
where A12 is the relative transformation matrix of frame x2 y2 with respect to frame x1 y1
and is defined by
73
cos sin
A12 A1T A 2 , 2 1 (4.79)
sin cos
Differentiation of the second equation of (4.79) with respect to time yields
2 1 (4.80)
Relations between Cartesian velocity and joint velocity: Let velocities of link i be
xi
ATi ri
Vi yi , (i 1, 2) (4.81)
i
i
then, from equations (4.77) and (4.78), and the relation of rotational velocity, the following is obtained:
V1 B 012 1 (4.82)
V2 B121V1 B122 (4.83)
where matrices in the above equations are

cos sin l1 sin 0 0
B121 sin cos l1 cos l2 , B122 l2 , B 012 l1 (4.84)
0 0 1 1 1
By combining equations (4.82) and (4.83), and applying V [V1T , V2T ]T and q [ 1 , ]T ,
V Gq (4.85)
is obtained. In this equation, matrix G is given by

B 012 0
G (4.86)
B121B 012 B122
Equation (4.85) is the velocity relation between the two bodies in terms of Cartesian velocities
represented by joint velocities, and is called the velocity transformation formula. Generalized
velocities and generalized coordinates are defined by q [ 1 , ]T and q [ 1 , ]T . Note that the
generalized coordinates employed here are different from the ones employed in the ‘basics of
augmented method’ in section 4.8.
(c) Variation relations
Variations of pseudo-displacement x i and yi , and angular displacement i of body i are
defined with respect to the body-attached frame as
74
xi
ATi ri
Zi yi , (i 1, 2) (4.87)
i
i
These variations are obtained corresponding to equations (4.82) and (4.83) as
Z1 B012 1 (4.88)
Z2 B121B012 1 B122 (4.89)
By combining equations (4.88) and (4.89), and defining Z [ Z1T , ZT2 ]T and q [ 1 , ]T
Z G q (4.90)
is obtained. Equation (4.90) is a variation relation which describes the variation of Cartesian
coordinates of the body in terms of the variation of joint coordinates through G .
(d) Acceleration relations
Differentiation of (4.82) with respect to time yields
V1 B 012 1 (4.91)
Equation (4.83) is differentiated with respect to time and combined with equation (4.91) to give
V2 B121B 012 1 B122 H12 (4.92)
where the matrices above are defined as
H12 B121V1 B122 (4.93)

sin cos l1 cos 0
B121 cos sin l1 sin , B122 0 (4.94)
0 0 0 0
Equations (4.91) and (4.92) are combined with V [V1T , V2T ]T and q [ 1 , ]T as
V Gq h (4.95)
where
0
h (4.96)
H12
Equation (4.95) is an acceleration equation which describes the acceleration of the bodies in the
Cartesian frame in terms of the relative acceleration of the joints.
75
(3) Dynamics
Now the equations of motion for the model shall be considered. Equations of motion for body ○
0 ,
link ① and link ② are written as

2
ZTi Mi Vi Qi 0 (4.97)
i 0
This form of the equation of motion is called the variational equation of motion, where mass matrix
M i and external force vector Q i are written as

T
Mi diag mi mi Ji , Qi [m g s i n i m g c o is 0] (4.98)
The problem is planar because Q i does not include gyroscopic terms. Z i should be kinematically
permissible for constraint equations of joint i . Since body ○

0 is fixed, Z0 0 . Thus, equation
(4.97) can be written as
Z1T M1V1 Q1 ZT2 M2 V2 Q2 0 (4.99)
Substituting equations (4.88), (4.89), (4.91) and (4.92) into (4.99), the following equation is obtained
T T BT012 BT012 B121

T
M1 0 B012 0 1 0 Q1
1 T
0 (4.100)
0 B
122
0 M 2 B121B012 B122 H12 Q2
T T
after some algebraic re-arrangement. Since 1 and are arbitrary, the coefficient matrix
vanishes to obtain
M1 0 1 Q1
GT G 0 (4.101)
0 M2 M 2 H12 Q2
where G is given by equation (4.86). This equation (4.101) can be reduced to
re M eq Qe 0 (4.102)
by substituting variables for matrices:
BT012 M1B012 BT012 B121

T
M 2 B121B012 BT012 B121
T
M 2 B122
Me T T
(4.103)
B122 M 2 B121B012 B122 M 2 B122
BT012Q1 BT012 B121

T
(Q 2 M 2 H12 )
Qe T
(4.104)
B (Q 2
122 M 2 H12 )
76
Equations of motion like (4.102) are the standard form of recursive equations for a 2-ink multibody
system. Writing equation (4.102) with respect to 1 , the equation can be written as
M 1 Q 0 (4.105)
Where,
M 늿
BT012 MB , M ?
M M1 , Q ˆ
BT012 Q Q1 (4.106)
012 1 1
ˆ
M T
B121M2B121 T
B121 T
M2B122 (B122 M2 B122 ) 1 B122
T
M2 B121 (4.107)
1
ˆ
Q T
B121 T
M 2 B122 (B122 M 2 B122 ) 1 B122
T
M 2 H12 Q2 T
B121 (M 2 H12 Q2 ) (4.108)
1
For large scale practical multibody systems, the same form of recursive equations of motion can
be obtained. As seen in the above explanation, and when compared to the augmented method, the
relative coordinate method can solve equations of motion by significantly reducing the number of
variables and equations. Thus, the relative coordinate method is a powerful tool for shortening
computation time when treating large scale problems.
(4) Extension for general three-dimensional problems
For three-dimensional problems, the variational equations of motion of the rigid body system
comprised of a rigid base body and n linked rigid bodies that connect to the base body are written
in the same form as equations (4.97):
 Z M V  Q   0
n
T
i i i i
(4.109)
i 0
m I 0   Q   f   mi i r i 
Mi   i , Qi   ri    i 
(4.110)
 0 Ji  Qi  ni  i Ji i 
The velocity vector and variation vector of displacement for the complete system are defined as
 r    AT r   r    AT  r 
Vi      T  ,  Zi      T  (4.111)
 ω  i  A ω  i  π i  A  π  i
and A i is the three-dimensional coordinate transformation matrix of body i (See section 4.4 ).
In this problem, equations similar to the final equations of motion in three-dimensional space will
be obtained. The general form of recursive equations of motion for constrained multibody systems
becomes:
77
re G T (MV CTZ λ Q) 0 (4.112)
which is the same form as equation (4.102) (5). These are the equations of motion that are projected
onto joint coordinate space from the Cartesian coordinate system. CTZ λ are constraint forces which
are introduced into the equations of motion when there are branches and/or closed loops in a serial
link system and CTZ is the Jacobian matrix of Cartesian constraint equations partially differentiated
with variables of Cartesian coordinates. Since V can be written as V Gq h , equation (4.112)
becomes a function of relative acceleration a ( v) , relative velocity v ( q) , and relative coordinate
q , and can be implicitly written as re re (q, v, a, λ, t ) 0.
The equations to be solved become a set of differential algebraic equations composed of equations
of motion and constraint equations:
re re (q, v, a, λ , t ) 0
(4.113)
C(q, t ) 0
q v 0 (4.114)
v a 0 (4.115)
where the size of q, v and a is nr (number of relative coordinates) and the size of C and λ is
n .
4.10 Contact theory
Problems involving contact between two bodies frequently appear in the analysis of practical
multibody dynamics. There are typically two types of problems: low speed collision, and high speed
collision. Sometimes material change will accompany the latter case. The study of mechanics of
collision is unfinished. Hereafter, a theory on low speed collision will be introduced from a multibody
dynamics view point which is now accepted in the multibody dynamics community.
When a collision occurs, the motion of bodies will change due to forces interacting among the
bodies. In this motion, no constraint equations can be imposed before the collision. The interaction of
forces is modeled to formulate governing equations. An instance of collision between two bodies is
shown in Fig. 4.24(a). Detecting contact and finding the contact point requires special algorithms for
contact occurrence (i.e. OBB tree, AABB and others, see references (7) and (8)). The time step of
78
integration for the two bodies’ equations of motion are estimated in order to judge whether the contact
will occur or not. If the contact occurs, a contact point is searched. After initial contact, if the two
bodies continue to approach each other, they indent each other as shown in Fig. 4.24(b). The main task
is to calculate the interacting force between the two bodies.
Contact with friction with respect to the surface of the body can be modeled separately in the normal
direction n and in the tangential direction t , which is perpendicular to n , at a contact point between
the two bodies. f n is normal force and f f friction force in Fig. 4.24(b). Normal forces are
frequently calculated based on Hertzian theory while friction forces are calculated based on Coulomb
theory.
(a) Instance of collision (b) After collision
Fig. 4.24 Collision of two bodies
(a) Normal forces
Fig. 4.25 shows a linear collision between two spheres. Every normal force produced at the contact
point passes through the centers of the two spheres. In the dashed region, when the two spheres are
approaching one another, compression occurs. When they depart from each other, recovery occurs.
Stress problems involving small deformations in two bodies colliding at slow speed can be solved by
applying Hertzian theory under the assumption of elastic deformation(9).
79
Fig. 4. 25 Contact between two spheres
Hertz obtained a relation between force and deformation without friction when two elastic spheres
contact each other. From the theory, ri and rj denote the radii of spheres i and j , and the
(idealized) indentation deformation of the two spheres is denoted by , as shown in Fig. 4.25, the
normal indentation force f n can be calculated as follows:

m
fn k (4.116)
In this equation, k is a generalized spring constant determined by the material’s characteristics and
the radii of the two spheres, and is

2
4 1 l
k , hl , (l i, j ) (4.117)
1 1 12 El
3 (h i h j )( )
ri rj
h l is a material constant determined by the Poisson ratio l and Young’s modulus El . The
exponent number m is theoreticlly taken as m 3/ 2 .
Equation (4.116) does not sufficiently describe the actual phenomena when it is introduced into
multibody system dynamics as a relation of f n and in a two-body collision. Reasons are not
clear yet, but one factor could be the lack of knowledge for damping property in the collision
phenomena. There are some trials that include damping effects in the formula (4.116). As shown in
Fig. 4.25, the indented area compresses as the two spheres collide. At a certain stage of the collision,
the two spheres will stop their approach, restitution occurs, and the two spheres then start departing.
Finally, the two spheres completely depart. Hunt - Crossley(10) and Lankarani - Nikravesh(11),(12)
modified the Hertzian formula for collision without friction by introducing the concept of momentum
and impulse, the change of collision energy, and the coefficient of restitution:
m
fn k d (4.118)
In the formula, the damping term d is included, where, d is the damping coefficient and is
defined by
80
m
; Hunt- Crossley
d 3(1 e ) 2
m
(4.119)
k ; Lankarani- Nikravesh
4 ( )
In these equations, is the hysteresis damping coefficient, e is the coefficient of restitution
between two spheres, 0 is the initial indentation velocity, and m 3/ 2 .
For practical problems one should consider collisions with friction. RecurDyn uses the following
formula
m2 m2
m1 m3 m1 m3
fn k c k c sgn( ) (4.120)
This was obtained by modifying and extending the Hertzian formula (4.118)(13) and the Coulomb
friction formula (4.122), which will be explained later in this section. In this extended formula
k and c are the generalized spring and damping coefficients m1 is the exponent of the spring
coefficient, m2 is the exponent of the damping coefficient, and m3 is the exponent of indentation.
(b) Frictions
Fig. 4.24(b) shows friction forces acting on the boundary between two bodies. Let t be the unit
vector directed toward slip direction on the contact surface between the two bodies. v i and v j
denote absolute velocities of two reference points on the two bodies. The reletive velocity of body j
with respect to body i along the direction of t is:
v (v j vi ) t (v j v i )T t (4.121)
where v i , v j and t are described by the coordinates of global reference frame O . Friction force f f
is written as:
ff (v ) f n sgn(v ) (4.122)
where ( v ) is the friction coefficient and generally is a function of velocity. It is often assumed that
(v) k f f / fn tan constant . It is necessary to employ ( v ) as a function of v which
will be determined through experimental investigations for a more precise analysis.
4.11 Numerical integrations for constrained equations of motion
81
In the preceding chapters, methods to formulate equations of motion for constrained multibody
systems were covered. In this chapter, algebraic differential equations composed of constraint
equations and equations of motion obtained in the preceding chapters will be arranged, explained, and
solved using numerical integration. RecurDyn adopts powerful, high-performance integration solvers
which are fundamentally based on a family of the Newmark method. The general procedure of the
Newmark method shall be explained here. It is advisable that readers who are unfamiliar with
numerical integration first read sections (1) to (4) below. The rest of this section is fairly advanced and
practical.
Before giving a detailed explanation a brief overview of differential equations and numerical
integration methods shall be shown. This will help lay the foundation and will thus make it easier to
explain how numerical integration methods are used to solve algebraic differential equations.
(1) Differential equations
Time varying dynamical phenomena can be described by differential equations using independent
variables and time. These differential equations, for example, can be written as
Mx Cx Kx f (4.123)
or
y F(y, t ) (4.124)
The above equations can’t be solved analytically (except for simple problems). Thus, we need
numerical integration methods for obtaining solutions to these equations.
(2) State transition equations

Differential equations describe the relation between state variables and their time derivatives at an
arbitrary time. Thus, they need to be integrated to obtain solutions during a finite period of time. When
integrating differential equations in a numerical way, time changes of state variables approximated by
some formulae (state transition formulae) must be accompanied by the original differential equations
to obtain their solutions. As an example, if a Taylor series expansion is taken to be a state transition
formula for equation (4.124) (a first order differential equation), then the state variable at current time
82
tn 1 tn h after time step h relative to the preceding time tn can be approximated as
y(tn 1 ) y(tn ) hy(tn ) (h2 / 2!)y(tn ) (h3 / 3!) y (tn ) (4.125)
In practical computations, since approximation will take place by employing the first few lower terms
and by neglecting the higher terms, then the precision can’t be preserved if h is large. From this
reason, numerical integration is carried out by selecting small time steps for obtaining state variables
at time tn 1 tn h which is one time step h ahead of time tn . Thus, the solutions at time
tn 1 tn h are calculated from the solutions at time tn . The solutions at t n 1 will be used to
calculate state variables at the next time step tn 2 , t n 1 , then repeated calculations will continue.
t t
h τ
Fig. 4.26 Euler method Fig. 4.27 Linear acceleration method
The Euler method is used to solve first order differential equations written in the same form as
equation (4.124). As shown in Fig. 4.26, the first order approximation in h in equation (4.125)
yn 1 yn hy n (4.126)
is used to describe time changes of state variables from time tn to time tn 1 tn h . This is the
fundamental and simplest numerical integration formula.
The linear acceleration formula for solving 2nd order differential equations (4.123) assumes that
acceleration x( ) at time tn can be linearly interpolated using the acceleration of x n at
time tn and x n 1 at time tn h as shown in Fig. 4.27
x( ) xn ( / h) a (4.127)
In this equation, a is the acceleration increment a xn 1 x n . By integrating equation (4.127),
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and considering that velocity and displacement at 0 are xn and xn , then the following relations
can be obtained:
2
x( ) xn xn a (4.128)
2!h
3
1 2
x( ) xn xn xn a (4.129)
2! 3!h
Then, the values at time t n 1 ，or h

h
xn 1 xn hxn a (4.130)
2
h2 h2
xn 1 xn hx n xn a (4.131)
2 6
are obtained. Equations (4.130) and (4.131) are the fundamental formulae for the linear acceleration
method, which is a family of the Newmark method.
These are the brief explanations on numerical integration for differential equations. Further
explanations can be referred to in reference (14). The main theme, numerical integration methods for
solving constrained differential equations (i.e. differential algebraic equations), will be explained in
the next section.
(3) Equations of motion and constraint equations to be solved
In sections 4.8 and 4.9, as an example of multibody systems, a 2 link multibody system was
formulated by means of the augmented method using Cartesian coordinates, and by means of recursive
method using relative coordinates of joints. In both cases, the following type of differential algebraic
equations were derived:
re (q , v , a , λ , t ) Mq + CTq λ f A (q , v , t ) 0 (4.132)
C(q , t ) 0 (4.133)
In these explanations, re (q , v , a , λ , t ) is a residual of the equations of motion. Equations (4.132)
and (4.133) constitute differential-algebraic equations of differential index 3. A differential index is
defined as the minimum number of analytical differentiations with respect to all independent variables
such that the equations considered can be transformed into an explicit ODE (ordinary differential
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equation) using algebraic manipulations. In the augmented method and the recursive method, M , q
and other variables differ in their contents. In the augmented method, equation (4.67) in section 4.8,
and equation (4.102) or (4.113) in the recursive method correspond to equations (4.132) and/or (4.133).
In the case of flexible multibody dynamics (not treated here) constrained equations of motion can be
described using the same form of algebraic differential equations as (4.132) and (4.133). In summary,
equations (4.132) and (4.133) are fundamental algebraic differential equations to be solved hereafter.
5. Problems to be solved and reviewed for MBD
(1) Virtual environment for manufacturing
This theme has already been treated in chapter 2. This is the theme that shows how computational
engineering contributes to manufacturing. Recently ‘Manufacturing by 1 D - CAE’ has attracted the
attention of engineers. This is an attempt at rebuilding CAE which can be applicable to designing in
the upper stream of manufacturing by reviewing already well established CAE. As one of the methods
which explores appropriate directions in the broader terms of manufacturing, 1D-CAE has launched
for this purpose. This is a trial that gives another look at practical computational engineering from the
view point of manufacturing. In order for this to be successful, it is strongly recommended for
manufacturing industries, computational business worlds and engineering societies to form a trinity as
an integrated framework. Comprehensive engagement with such problems is hoped for in future
applications.
(2) Popularization and awareness of MBD
(a) Education in university
As stated in chapter 2, MDB technology anticipates a large ripple effect among numerous
industries. It is important to pay attention to advancement in dynamics education by recognizing the
importance of the subject of multibody dynamics. Though multibody dynamics has its own
fundamental subject including pursuing principles of mechanics, in many cases, it has its own
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importance within practical dynamics. Therefore it is hoped that prudent consideration is taken with
regards to selecting multibody dynamics as part of curriculums within higher education. In applying
dynamics, MBD should be described as practical dynamics for virtual prototyping and as the center
of dynamics design. In university education, students should learn mechanics, computer science and
computer graphics required for modeling as well as CAD technology.
(b) Popularization within industrial sectors
In industrial sectors, correctly recognizing that multibody dynamics is a powerful tool for
controlling the capabilities of product development in enterprises is essential. It is understood that an
establishment of seamless digital design by introducing multibody dynamics technology which is
integrated with traditional technologies such as CAD, CAE and CAT is strongly recommended.
Actually, in design and analysis enterprises, it is highly recommended to promote the use of CAE. It
is requested for engineers to gain the skills for special purpose software and general purpose software,
while also enhancing their theoretical backgrounds with the knowledge of fundamental dynamics.
(3) Problems and research review of MBD
In MBD research, there are many transversal tasks to be solved such as modeling and analyses of
flexible systems, high speed computation and stabilization, real-time simulation, analysis of contact –
collision – friction problems, rapid prototyping, fluid – structure interaction, particles – structure
interaction, and improvement of multibody systems with control systems. Specifically, in order for
MBD be more practical, it is important to establish effective physical modelling of contact and
collision, and to lower the degrees of freedom of MBD with control systems. In addition to the above,
there are many vertical problems in each industry including space structures, railway vehicles,
construction machinery, robots, and ocean structures.
In interdisciplinary research, multibody dynamics is being widely applied to problems within
medical engineering, bio-engineering, molecular dynamics, material science and others. Eventually,
it will be further applied to game worlds which need high speed computations for both human and
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machine motions.
References
Chapter 1
(1) P. E. Nikravesh: Computer-Aided Analysis of mechanical Systems, Prentice-Hall (1988).
(2) E. J. Haug: Computer Aided Kinematics and Dynamics of Mechanical Systems/ Volume 1, basic
methods, Ally and Bacon (1989).
(3) A. A. Shabana, Dynamics of Multibody Systems, John Wiley & Sons (1989) and same titled book,
Cambridge University Press, 3 rd edition (2005).
(4) J. Garcia de Jalon and E. Bayo: Kinematics and Dynamics Simulation of Multibody Systems, The
Real-Time Challenge, Springer-Verlag (1994).
(5) M. Geradin and A. Cardona: Flexible Multibody Dynamics, A Finite Element Approach, John
Wiley & Sons, Ltd (2000).
(6) O. A. Bauchau: Flexible Multibody Dynamics, Springer (2011).
Chapter 2
(1) O. C. Zienkiewicz and R. L. Taylor, Finite Element Method for Solid and Structural Mechanics,
Elsevier 2005.
Chapter 3
(1) N. Shimizu, T. Sawanobori, K. Sogabe, H. Takada and K. Nonami, Fundamentals and
Applications: Machinery Dynamics, p. 3 and p. 199, Kyouritsu Publishing Co. (1998), in Japanese.
(2) Japan Society of mechanical Engineers edited: Multibody Dynamics (1) ─ Basic theory ─
Corona Publishing Co. (2003) in Japanese.
(3) W. Schiehlen, Roots and perspectivesm Multibody System Dynamics 1, Multibody System
87
Dynamics, pp. 149 – 188, Kulwer Academic Publishers (1997).
(4) W. Schiehlen: Research trends in multibody system dynamics, MULTIBODY SYSTEM
DYNAMICS, 18, 1, 3/13 (2007)
(5) http://motionlabo.com/ (in Japanese)
(6) http://imsd-acmd2014.ksme.or.kr/main/
(7) N. Shimizu, Multibody dynamics education and its problems, a small special issue of Multibody
Dynamicsa front line of research, applications and educations, Simulation, 29, 2, pp.62 – 67
(2010) in Japanese.
Chapter 4
(1) Japan Society of mechanical Engineers edited: Multibody Dynamics (1) ─ Basic theory ─
Corona Publishing Co. (2003) in Japanese.
(2) H. Chaudhary and S. K. Saha: Dynamics and Balancing of Multibody Systems, Springer (2009).
(3) J. L. Meriam and L. G. Kraige: Dynamics 4th edition, John Wiley and Sons, p.536 (1997).
(4) J. H. Ginsberg: Advanced Engineering Dynamics, 2 nd edition, Cambridge University Press, p. 179
(1995).
(5) D. S. Bae, J. M. Han and H. H. Yoo, A generalized Recursive Formulation for Constrained
Mechanical System Dynamics, Mech. Struct. & Mach., 27 (3), pp.293-315 (1999).
(6) E. D. Haug: Intermediate Dynamics, Prentice-Hall International Editions, p.334 (1992).

(7) S. Gottschalk, M. C. Lin, and D. Manocha, OBB Tree: A hierarchical structure for rapid
interference detection, In: Proc. of ACM Siggraph’96, 171-180 (1996).

(8) van den Bergen G, Efficient collision detection of complex deformable models using
AABB trees, Journal of Graphics Tools, 2(4), pp.1-14 (1997).

(9) H. Hertz: On the contact of elastic solids, Journal für die reine und angewandte
Mathematik, 92, 156-171, 1882.

(10) K. H. Hunt and F. R. E. Crossley, Coefficient of restitution interpreted as damping in
vibroimpact, ASME Journal of Applied Mechanics, 42, pp.440-445 (1975).

(11) H. M. Lankarani and P. E. Nikravesh, A contact force model with hysteresis damping
for impact analysis of multibody systems, ASME Journal of Mechanical Design,
112, pp.369-376 (1990).

88
(12) H. M. Lankarani and P. E. Nikravesh, Continuous contact force models for impact
analysis in multibody systems, Journal of Nonlinear Dynamics, 5, 193-207 (1994).
(13) FunctionBay, Inc.: Characteristic page for Solid Contact in [Professional > Contact > Common
UI] in RecurDynHelp (2014).
(14) Japan Society of Mechanical Engineers edited: Fundamentals and applications of Numerical
Integration method, Corona Publishing Co. (2003) in Japanese.
(15) K. Brenan, S. Campbell, and L. Petzold, Numerical Solution of Initial - Value Problems in
Differential-Algebraic Equations, SIAM, Philadelphia, first edition, (1989), and second edition,
(1996).
(16) M. Geradin and A. Cardona: Flexible Multibody Dynamics, A Finite Element Approach, John
Wiley & Sons, Ltd, pp.29-33 (2000).
(17) M. Geradin: Mechanical Vibrations, Theory and Application to Structural Dynamics 2 nd edition,
John Wiley and Sons, pp.373-393 (1997).

(18) C. L. Bottaso, et al, On the optimal scaling of index three DAEs in multibody dynamics, III
European Conference on Computational Mechanics, Solids, Structures and Coupled Problems in
Engineering, C. A. Monta Soares (eds.) Lisbon, Portugal, 5-8 June (2006).
89
Part 3 Using RecurDyn
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Contents
1. Introduction
(1) Creation of analysis data
(2) Analysis execution
(3) Display of analysis results and evaluation considerations
(a) Motion of simple shaped rigid bodies
(b) Practical problems of rigid body motion in industry
(c) Practical problems of flexible body motion
(d) Robotics and mechatronics problems
3. RecurDyn terms
4. Using RecurDyn
4.1 Analysis flow of MBD problems using RecurDyn
4.2 Conducting dynamic and mechanism analyses
(1) Observation of pendulum motion
(2) Motion analysis of a pendulum – 1: New model creation
(3) Motion analysis of a pendulum – 2: CAD data format
5.1 RecurDyn's user interface
5.1.1 Starting up RecurDyn window
(1) New model creation
(2) Recalling existing model files
5.1.2 Important considerations when working with RecurDyn
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(1) Unit systems
(a) Assigning unit systems other than those given in the list
(b) Global unit system and local unit system
(c) Angle units
(2) Working modes
(a) Working mode types
(b) Switching between working modes
5.1.3 RecurDyn’s GUI
(1) System Button
(2) Quick Access Toolbar
(3) Ribbons
(a) Home tab
(b) SubEntity tab
(c) Analysis tab
(d) Professional tab
(e) Other tabs
(4) Toolbars
(a) View Control Toolbar
(b) Rendering Toolbar
(c) Professional Toolbar
(d) Simulation Toolbar
(5) Command Toolbar
(a) Modeling Option Toolbar
(b) Input Toolbar
(6) Working Window
(7) Database Window
(8) Output Window
(9) Status Bar
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(10) Keyboard shortcuts
5.1.4 Operation functions for model creation
(1) Import and export
(a) Import
(b) Export
(2) Copy and delete for entities
(a) Copy
(b) Cut
(c) Paste
(d) Delete
(3) Object control
(a) Basic Object Control
(b) Advanced Object Control
(4) View icons
(a) Icon Setting icons
(b) Grid Setting icons
(5) Undo and redo
(a) Undo
(b) Redo
(c) Clear Undo History
(6) Select entities
(7) Auto Operation and Selection
(8) Operation Cancellation
(9) Others
5.2 Working Plane Setting
(1) Working Plane
(a) Global coordinates as the reference plane
(b) Current Working Plane as the reference plane
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(c) Working plane setup with respect to a specified marker
(2) Grid
(a) Change using the Working Plane Setup dialog box
(b) Change using Toolbar or Ribbon
(3) View Control
(a) View Control
(b) View Change
(4) Cutting Plane
(5) Rendering Mode
(6) Layer
(a) Set layer number
(b) Change Layer View
5.3 Analysis models and analysis procedures
(1) Kinematics analysis models and dynamics analysis models
(a) Kinematics analysis model
(b) Dynamics analysis model
5.4 Creation of entities
5.4.1 Bodies and geometries
(1) Bodies
(a) About bodies
(b) Body types
(c) Body creation
(d) Body properties
(2) Markers
(3) Mass properties
(a) Material Input Type
(b) Reference coordinates for moments of inertia
(4) Solid geometries
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(a) Cylinder
(b) Box
(c) Sphere and ellipsoid
(d) Others
(5) Curve geometries and surface geometries
(a) Outline
(b) Spline
(c) Circle
(d) Arc
(e) Edge curve extract
(f) Outline surface
(g) Spline surface
(h) Face Surface
(i) Arc Revolution
(j) Arc Extrusion
5.4.2 Joints and constraint equations
(1) Joints
(a) About joints
(b) Types of joints
(c) Reduction of degrees of freedom by setting joints
(d) Joint creation
(2) Joint property
(a) Setting joint properties
(b) Procedure for setting Motion
(c) Display of Forces
(3) General joint constraints
(a) Fixed joint
(b) Revolute joint
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(c) Translational joint
(d) Planar joint
(e) Cylindrical joint
(f) Spherical joint
(g) Universal joint
(4) Primitive joint constraints
(a) CMotion
(b) CVCV (Curve-Curve)
(c) Coupler
(d) Gear
5.4.3 Force
(1) Equivalent system for forces and torques
(3) In-line Force
(a) Springs
(b) Axial Force
(c) Translational Force
(4) Rotational Torque
(a) Rotational Spring
(b) Rotational Axial Force
(c) Rotational Force
(5) Combined Force
(a) Screw
(b) Bushing
(6) Others
(7) Force vector display
5.4.4 Contact
(1) Types of contact surface
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(2) Calculation of contact forces
(a) Normal constraint force
(b) Calculation of friction force
(c) Friction force calculation method
(3) Main parameters
(a) Contact geometry
(b) Buffer
(c) Maximum Stepsize Factor
(4) Contact force direction display
(5) Primitive3D contact type
(a) Sphere To Sphere
(b) Sphere In Sphere
(c) Sphere To Cylinder
(d) Sphere In Cylinder
(e) Cylinder To Cylinder
(f) Cylinder In Cylinder
(6) General contact types
(a) Extended Surface To Surface Contact (Patch contact)
(b) Solid Contact
5.5 Sensor
5.6 Expression
(1) Creation of Expressions
(a) Display of Expression List

(b) Input method for ‘Expression’
(2) Function list

(a) Interpolation functions and conditional branches
(b) Displacement Functions
(c) Velocity Functions
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(d) Acceleration Functions
(e) Other Functions
5.7 Analysis solver
(1) Model Setting dialog
(2) Analysis and stop execution
(3) Brief explanation regarding numerical integration solvers used within RecurDyn
(a) Numerical integration solvers and their roles
(b) Mechanism problems solved using RecurDyn

(c) Classification of numerical integration solvers used in RecurDyn
(4) Setting various items in ‘Dynamic’ analysis
(a) Dynamic analysis execution
(b) Setting the ‘General’ tab in the ‘Dyn/KinAnalysis’ dialog box
(c) Setting the ‘Parameter’ tab in the ‘Dyn/KinAnalysis’ dialog box
5.8 Post processing
5.9 Some remarks on analysis model creation
6. Analyses using RecurDyn
6.1 Motion of a four-bar linkage mechanism
6.1.1 Special remarks before analysis model creation
(a) Degrees of freedom of a four-bar linkage mechanism
(b) Types of analysis problems
6.1.2 Analysis model creations for a four-bar linkage mechanism
(1) Actuating the model by a specified rotation
(2) Actuating the model by a rotational torque
6.2 Motion of a three dimensional slider-crank mechanism

(1) Constraining a slider with a translational joint to the ground
(2) Constraining the slider with a contact element to the ground
6.3 Vibration of an elastic beam
6.4 Control of an inverted pendulum
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7. RecurDyn files
(1) File formats that can be imported by the modeler
(a) Geometry files
(b) RecurDyn files
(c) Other files
(2) Files that can be exported by the modeler
(a) Geometry files
(b) RecurDyn files
(3) Files that can be imported by the plotter
(4) Files that can be exported by the plotter
(5) Extensions of RecurDyn
References
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1. Introduction
This part is provided for first-time RecurDyn users. An overview of RecurDyn (RD/Pro) will be
given using rigid multibody examples. RD/Pro is a general purpose computer software which conducts
motion analyses for multibody systems (MBS) including machines and bio-mechanics composed of
many components (e.g. organs, joints, and muscles). This book focuses on model construction,
analysis and various outputs including animation and graphic representation for rigid multibody
systems in RD/Pro.
Chapter 2 briefly introduces some mechanism examples calculated using RecurDyn. From the
explanations, readers can gauge what type of problems can be solved using RD/Pro. Chapter 3 briefly
summarizes terms which are considered to be essential for reading this book. Chapter 4 begins with a
simple analysis example of a pendulum, aiming at a relatively easy use of RecurDyn.
From this, the readers can quickly grasp how mechanism analyses can be carried out using RecurDyn.
Chapter 5 describes ‘How to use RecurDyn’ from which readers can fully understand the composition
and function of RecurDyn. Contents in this chapter include: the GUI, the procedure for making
analysis models, the entities including markers, bodies, joints, forces, and contact elements, and
special remarks on creating and solving analysis models. Chapter 6 constructs the analysis model of a
four-bar mechanism, run it, and then evaluates the computational results with the knowledge gained
from the preceding chapters. Then, problems with a three-dimensional slider-crank mechanism, a
flexible beam and an inverted pendulum control are analyzed. In more practical situations, more
complex problems will arise. These examples are provided as stepping stones to be able to use
RecurDyn functions in more complex problems. By referring to the explanations above, users should
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roughly be able to understand how to analyze rigid multibody system problems. Chapter 7 briefly
explains files related to RecurDyn.
This chapter briefly explains what mechanisms and what special features from the structural view
point are seen in rigid multibody problems in RecurDyn analyses. Next, flexible body problems that
can be treated within the scope of rigid multibody dynamics and mechatronics problems are briefly
introduced. Before creating analysis data using RecurDyn, an operation procedure will be briefly
summarized below.
(1) Creation of analysis data
Analysis data is created to make an analysis model for computation. The analysis model is divided
into elementary parts such as body and joint components, springs, and forces. Each elementary part is
input individually and assembled into a unified analysis model in a computer. Fig. 2.1 is an example
of a four-bar mechanism which is created in the Working window of RD/Pro. There are several rigid
bodies called ‘links’ which are connected by joints. This data is created in the Working window by
using the graphic user interface (GUI).
- Link parts are composed of ④, ⑤ and ⑥, and the spring part is ⑦.
- Metal fixtures fixed to the unmovable body called ground are ①, ②, and ③.
- Fixed joints fix the metal fixture completely to the ground and are labeled as joint 1, 2 and 3.
revolute joint2 ⑤ coupler

revolute joint 3
⑥ crank ④ rocker
⑦ coil spring
revolute joint 1
①
y fixed joint 1 101

fixed joint 3
Ground
x revolute joint 4
z fixed joint 2 ②
Fig. 2.1 Four bar mechanism created in a Working Window
A reference frame called the centroidal marker is created at the mass center of a body and a joint
marker is created at the joint automatically. This is shown by a tri-axial frame with three color arrows
in Fig. 2.1. Thus, the four-bar mechanism model has been created.
(2) Analysis execution
After creating the analysis model of the mechanism, simulation of mechanism motion will start
from the initial configuration at initial time. Analysis results are stored in files after completion of the
calculation.
(3) Display of analysis results and evaluation considerations
Computational results can be observed as animations in the display. Positions, velocities and
accelerations of concerned links and reactions of constraint points can be seen in graphs.
(a) Motion of simple shaped rigid bodies
Here, several analysis examples computed by RD/Pro (RecurDyn/Professional) will be introduced.
An inverted spinning top will be used as an example which is dynamically interesting. Fig. 2.2 is a
snap shot showing an inverted top which is stably spinning. At the start of rotation, the tip of the top
is in a lower position (Fig. 2.2(a)). It then becomes horizontal and finally stands upside down (Fig.
2.2(b)). Simulation results can be checked by using the aforementioned animations of RecurDyn
(Animation of computational results is found in
https://www.youtube.com/watch?v=VzsBtN18X_g). In order to investigate what is happening when
the top is upside down, principal parameters such as friction coefficient, are varied.
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(a) Early stage of spinning (b) Top is completely inverted
Fig. 2.2 Spinning motion of inverted top

To further understand CAD and motion mechanics, practical but rather simple mechanism
problems are presented in Fig. 2.3 and 2.4.
Fig. 2.3 Slider-crank motion Fig. 2.4 Clutch mechanism
(b) Practical problems of rigid body motion in industry
Fig. 2.5 shows a model of cam-valves in an engine, Fig. 2.6 shows a planetary-gear mechanism,
Fig. 2.7 shows a chain drive mechanism of a bicycle, Fig. 2.8 shows a belted mechanism and Fig. 2.9
shows a two-dimensional shaking table with hydro-static oil bearing. These models were practically
analyzed using RecurDyn software.
(c) Practical problems of flexible body motion
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Examples of cases where structural members are flexible are shown in Fig. 2.10 and Fig. 2.11. Fig
2.10 treats a landing gear mechanism and Fig. 2.11 treats the lever boot of a shift gear in an automobile.
These models were analyzed as flexible multibody systems and stress calculations and life time
evaluations were carried out.
Fig. 2.5 Cam-valves in an engine Fig. 2.6 Planetary-gear mechanism
Fig. 2.7 Fig. 2.8 Belted mechanism
Chain drive mechanism of a

bicycle
Fig. 2.9
Two-dimensional shaking table
with hydro-static oil bearing
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Fig. 2.10 Landing gear mechanism of Fig. 2.11 Lever boot of a shift gear
an airplane (https://youtu.be/caC-851ECaA) in an automobile (https://youtu.be/hfWth32otgk)
(d) Robotics and mechatronics problems
Fig. 2.12 and Fig. 2.13 are analysis examples of an inverted pendulum and a robot. The control
model of the inverted pendulum shown in Fig. 2.12 is presented as educational material. Fig. 2.13
shows an example of a working robot which is used in industries.
Fig. 2.12 Fig. 2.13

Control of inverted pendulum model Working industrial robot
(from https://youtu.be/ggP9H95583k)
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3. RecurDyn terms
Simple terms used in RecurDyn will be explained in this chapter.
- Graphic user interface (GUI) see section 5.1.3
This is the graphic user interface of RecurDyn. When users use RecurDyn, data will be input by
using graphics from the Working Window in a display. Data is input in an object-oriented manner
so that users can intuitively understand. The interface transforms the given data into information
that can be easily understood by RecurDyn users. For computer calculation outputs, the interface
transforms the numerical data into graphic animations.
- RecurDyn window see section 5.1.3
A special restricted area in a display that appears when RecurDyn starts up is called a ‘window’.
There are three main windows in RecurDyn: The Working Window, Database Window and
Message Window.
- Models and model creation using RecurDyn
When mechanism problems are solved by RecurDyn, mathematical models such as equations of
motion and constraints that conform the analysis models created by users are constructed. These
system equations are solved by numerical integration with solvers (which is explained later in this
chapter) which is provided in RecurDyn. The obtained computational results are represented by
animations and graphs.
Analysis model creation by users through observing actual mechanisms is conducted by
RecurDyn. After creating analysis models, the users run RecurDyn to obtain computational results
in the form of animations and graphs. The analysis model of RecurDyn is composed of bodies,
joints, forces and contact elements which are generically called ‘entities’.
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- Body
‘Rigid body’ or simply, ‘Body’ is defined as a unit element of mechanical, structural or other
objects in mechanisms. As a component is idealized to be rigid, deformation is neglected. Since
there are many shapes in mechanical parts, there are also numerous bodies. Bones which form
bio-mechanisms are often considered to be rigid bodies.
- Constraint
The restriction of motion between two bodies by a connection is called a constraint. There are two
types of constraints: displacement constraints that restrict displacements between two connecting
bodies, and driver constraints that actuate the body to follow a specified motion. This is a time
dependent function of displacement, velocity and/or acceleration.
- Joint
A joint is a physical component which connects bodies. Motion of the bodies is restricted by the
joint which creates the desired motion. There are many types of joints including revolute,
translational, ball and universals.
- Force element
Forces and/or torques that act upon bodies are generically called force elements in RecurDyn. A
spring and/or a damper which is set up between two bodies and contacts both bodies are also
called a force element.
- Ground
Ground is the base body of a mechanism model that does not move.
- Base and action
Joints and forces are defined between two bodies. The first selected body becomes the base body
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and the second selected body becomes the action body. A less moving component, a fixed
component or a larger component is generally taken as the base body, while the moving part is
generally selected as the action body.
- Solver
After creating the analysis model, the motion of the model is numerically solved for each time
step increment by means of numerical computation. The solver deals with this computational task.
The solver generally includes an integrator that performs numerical integration and a calculator
that solves simultaneous equations needed during each time integration.
- Numerical integration method
The numerical integration method or time integration method is a method which numerically
solves differential-algebraic equations composed of equations of motion and constraint conditions
for each time step increment. RecurDyn uses the backward difference formula (BDF) or the
generalized  method as its default.
- Assembly mode, body editing mode and profile editing mode
There are three working modes for creating and editing models in a window within RecurDyn:
assembly mode, body editing mode and profile editing mode. It is important to recognize in which
mode users are operating.
In assembly mode, bodies, joints, forces and contacts are created and edited. Computation is
also done in this mode.
In body editing mode, creating and editing shapes and markers of rigid bodies are performed.
In profile editing mode, profiles in body editing mode are created.
- Profile
Profile describes the characters of an entity. A dialogue which represents characters is called
profile dialogue.
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- Marker
A marker is a local reference frame which attaches to a body for describing motion of the body.
Fig. 3.1 is a marker attached to a body. In general, the X, Y and Z axes are positive to the right,
up, and front, respectively.
axis (pink)
X axis (blue)
Z axis (yellow)
Fig. 3.1 Symbol of marker
Fig. 3.2 shows markers defined in a body. The inertial reference or global reference frame is
automatically defined as being attached to the ground in the model.
Fig. 3.2 Body and its reference frames
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Since the marker defines the origin and the direction of its marker, this is generally set at a
characteristic point on the body. A body reference frame and a center of mass marker (in brief,
center marker) located at the center of mass in the body are defined. Markers are also defined at
attached points of a joint and at applied points of a force. Markers can also be defined at measuring
points and/or special marked points. These markers are all defined with respect to the body
reference frame. The origin and orientation (Euler 313 angles or Cardin 321 angles) of the markers
are specified in a dialog box.
- Entity
Entity is a generic term specifying all types of markers, bodies, joints, force elements, and contact
elements.
- Base marker and action marker
Motion and force are calculated relative to a base marker. The force applied to an action marker
is defined as applied force and the force exerted at the base marker is reaction force.
4. Using RecurDyn
4.1 Analysis flow of MBD problems using RecurDyn
Fig. 4.1 shows an analysis flow diagram for mechanism problems using RecurDyn. Motion
analysis of mechanism problems involves calculating responses of analysis models, which are
characterized by multiple bodies with mass properties, joint constraints between components, and
applied driving motions or external loads such as forces and torques at specified points (see Figs 4.1(a)
and 4.1(b)). Information from computational results of motion such as position, velocity and
acceleration, and from forces such as joint reaction forces and spring forces is output in the form of
animations and graphs. Fig. 4.1(a) is a schematic showing motion and forces of each component of
the analysis model, all of which are calculated, subject to a prescribed motion.
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Fig. 4.1(a) When prescribed motion is applied
Fig. 4.1(b) When external forces are applied
Fig. 4.1 Analysis flow chart when using RecurDyn
Equations of motion and constraint equations derived from the analysis model created by RecurDyn
are calculated subject to the prescribed motion for each time increment. Thus, time responses against
the time axis are obtained. In Fig. 4.1(a), since a prescribed motion is applied to the model, this is a
geometry of motion or kinematics problem. In contrast, Fig. 4.1(b) shows how the computation of the
model is performed to obtain the motion of the mechanism and forces exerted in the mechanism under
the application of external forces such as forces and/or torques is known. This is a problem of
dynamics which solves differential algebraic equations of motion by a numerical integrator.
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4.2 Conducting dynamic and mechanism analyses
Dynamic analyses of mechanisms carried out using RecurDyn will be briefly explained using an
example of a simple pendulum. Input procedures of RecurDyn will briefly be explained here, but the
objective of this section is for users to gain a rough idea about the amount of data needed when an
analysis model is created using RecurDyn. The reason why the simple pendulum was selected is that
the pendulum has a simple shape, there is a historical importance in relation to observation of the
behavior of the pendulum given by Galileo, and it involves delving into a deeper meaning of
mechanics. A full explanation on creating input data using RecurDyn through some examples will be
given in chapter 6 after explaining the structure of RecurDyn.
(1) Observation of pendulum motion
Fig. 4.2 shows the lamp hanging from the ceiling of the Duomo at Pisa in Italy. It is famous because
Galileo (Fig. 4.3) found that the period of vibration of a pendulum had isochronous characteristics
dependent only on the length of the pendulum (http://www.flickr.com/photos/
debbieohi/158694987/in/photostream/).
Fig. 4.2 Fig. 4.3

Galileo Galilei Fig. 4.4 Pendulum type clock
Lamp in Duomo at Pisa
Fig. 4.4 shows a pendulum type clock in which the pendulum is located at the center. This
pendulum plays an important role in keeping time constant. How does the pendulum of the pendulum
clock move? Since the amplitude of vibration of the pendulum is small, its cycles move with a constant
period, and it strays from a constant period when the amplitude gets bigger. How does it behave? It is
difficult to obtain analytical solutions for larger amplitudes of swinging. Thus, a simplified model for
this problem will be shown in an analysis using RecurDyn.
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(2) Motion analysis of a pendulum – 1: New model creation
This analysis model is created by using the GUI of RecurDyn. In part (3) of section 4.2, the basic
analysis model will be imported from CAD data.
As a fundamental problem, motion of a rigid bar will be considered. Fig. 4.5 shows the complete
model of an iron steel bar. As shown in Fig. 4.5, the pendulum swings about the Z-axis. The pendulum
rotates about the Z-axis at a bearing which is fixed to the upper ceiling defined as ‘ground.’ Motion of
the pendulum will be observed when the pendulum is released from the initial resting position at 30
degrees inclined from the vertical position.
Y Ceiling Bearing
（Ground）
Pin
Z X
Fig. 4.5 Steel bar pendulum
An analysis model and its input data will be created without giving detailed explanations. The
construction of model data will be focused on in this section. First, input data of the pendulum motion
shown in Fig. 4.5 will be created by using the Working Window.
Created data will be stored in a file with the
name ‘s_pend_1.’ Through this process, users
can briefly learn RecurDyn usage and which Working Window
markers, bodies, constraints and forces are
important in modeling this task. In part (3) of
this section, a similar problem is treated by
importing CAD data.
As shown in Fig. 4.6, the global marker or Fig. 4.6 Markers in the Working Window
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global frame is shown at the lower left corner
in the Working Window. The unit system should be selected by considering the size and weight of
the analysis model. Here, mm, kg, s for length, mass and time are selected. A constant value of
9806.65 [mm/s2] will be used for the acceleration of gravity in this analysis.
Now, analysis data will be created using RecurDyn.
- Preparation
① Run ‘RecurDyn’.
⇒The ‘Start RecurDyn’ window should appear
as in Fig. 4.7.
② Type in ‘s_pend_1’ for the model name.
⇒Select ‘MMKS’ from the pull down menu.
Select ‘-Y’ from the ‘Gravity’ pull down menu. Fig. 4.7 Start RecurDyn window
Click the ‘OK’ button.
- Body creation
A body is an entity which is comprised of the individual components of a mechanism. For the
body, mass is defined. The body has a shape, markers and a body reference frame attached as its
attributed property. The shape of the body is not essential to defining it but when the body is used
for contact problems it becomes indispensable.
Click the OK button in the Start RecurDyn window, then the Working Window appears in the
center of the display (Fig. 4.8).
⇒ Origin of the reference frame is automatically set at the center of the Working Window.
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Professional tab
Fig. 4.8 Working Window in the GUI
The procedure for creating cylinder-shaped bodies will be explained. Supposing a pendulum bar with
length 1000 mm, radius 25 mm, and a cylinder body is set between (0,0,0) and (0,－1000,0).
Body Group Input Toolbar

③ Click the Professional tab (Fig. 4.8, 4.9).
⇒ Click the Cylinder icon in Body group.
⇒ Select and click (Point, Point, Radius) from the
pull down menu in the Modeling Option Toolbar.
⇒ Click the coordinates (0,0,0,Ground) in the

Modeling Option Toolbar
Working Window (Fig. 4.10). Or key-in (0,0,0) in
Fig. 4.9 Cylinder icon in body group
the Input Toolbar, then push the enter key.
⇒ Click the coordinates ‘0,-1000,0’ (Fig. 4.10).
Or key-in ‘0,-1000,0’ in the Input Toolbar then
push the enter key.
⇒ Key in ‘25’ in the Input Toolbar then push the
enter key (Fig. 4.11).
- Joint creation
Fig. 4.10 Creation of cylinder body
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Set a joint (constraint condition) which connects
one body to the other body. Connect the pendu-
lum bar ‘body 1’ and the ‘ground’ (which is also

Fig. 4.11 Modeling Option Toolbar
a kind of body without moving) at the top of the
and Input Toolbar
bar ‘0,0,0’ with a revolute joint about the Z-axis.
Joint group
④ Click the Professional tab.
⇒ Click the Revolute joint icon in Joint group.
⇒ Select ‘Body, Body, Point, Direction’ from
the pull down menu in the Modeling Option
Toolbar (Fig. 4.12). Fig. 4.12 Revolute joint icon in joint group
⇒ Click at any point in the Working Window
which represents ‘Ground’ (Fig. 4.13).
⇒ Click cylinder body (body 1) (Fig. 4.14).
⇒ Click the point ‘0, 0, 0, Ground’ in the
Working Window. Or key in ‘0, 0, 0’ in the
Input Toolbar, then push the enter key
(Fig.4.15).
Fig. 4.13 Fig. 4.14
⇒ The cylider shape icon appears. Adjust the
Click ‘Ground’ Click cylinder body
rotation axis to point in the required direction
(Z-axis) by moving the mouse, then click in
the Working window. ⇒ The revolute joint
icon becomes circular when the direction of
rotation coincides with the Z-axis (Fig. 4.16).
Fig. 4.15 Fig. 4.16

Click Point‘0,0,0’ Click about Z axis rotation
116
- Confirmation of created analysis data
The analysis data created can be confirmed by checking
the Database Window (Fig. 4.17) appearing in the right side
of the GUI window.
The body information must be checked first. The body is

The body information must be checked first. The
composed of ‘Ground’ and ‘Body1.’ ‘Ground’ is the
reference frame attached to the inertial reference frame
which is usually the ground or the reference frame attached
to the ground. ‘Body 1’ is the pendulum bar. Detailed
information on ‘Body 1’ can be seen from the property
window of Body 1 which is obtained by double-clicking the

Fig. 4.17 Database window
‘Body 1’ tab in the Database window.
window*. This information can also be obtained by right-clicking ‘Body 1’ object in the Working
window followed by selecting the Property tab. In the Property window of ‘Body 1’, Material input
type and Material type are set to ‘Library’ and ‘Steel’ respectively as default (Fig. 4.18).
Mass and moment of inertia (moment of inertia: Ixx, Iyy, Izz and product of inertia: Ixy, Iyz, Izx)
are automatically calculated with respect to the center of mass marker and is dependent on material
type and body shapes. They are tabulated in the property dialogue box as shown in Fig. 4.18.
Other information including the origin and attitude of the body can also be obtained from the
property dialogue box.
Fig. 4.18 Property of a body

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* Note that by double-clicking ‘Body 1’ in the
Database window, the Property window appears. But if the ‘Body 1’ object in the Working
window is double-clicked, a mode change will take place from ‘Assembly’ to ‘Body editing’
mode. The Property window will be opened by clicking on the ‘Body 1’ object in the Working
window. Then, the object should be right-clicked and selected from the opened menu.
Next, joint information can be obtained from
‘Revolute joint 1’ in the Property window of the
Database window (Fig. 4.19). Following this
procedure, the Property window appears, the type
of joint can be confirmed as ‘Revolute’ in the
Joint tab, and the state of connection of the joint
can also be confirmed.

Fig. 4.19 Property of a joint
- Setting of the initial state
The pendulum bar is set to incline 30° upwards from the vertical line as shown in Fig. 4.21.
⑤ Enclose and select the ‘Body 1’ object in the
Working window by dragging with the mouse.
⇒ Click the Basic object control icon in the
Toolbar (see Fig. 4.8).
⇒ The Basic window will appear (Fig. 4.20), from Fig. 4.20 Object control
which the Rotation tab can be selected.
⇒ Input ‘30’ as the angle [deg].
⇒ Confirm that the reference frame is set
to ‘Ground, Inertial marker’, then click the
counter clock-wise rotation icon about the
Z-axis. ‘Body 1’ and ‘Joint revolute 1’ are
rotated counter clock-wise 30° about (0, 0, 0) Fig. 4.21 Rotate both the pendulum bar
with respect to the Inertia marker (Fig. 4.21). and revolute joint by 30°
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- Execution of dynamic analyses
Now a dynamic analysis shall be run.
⑥ Click the ‘Analysis’ tab.
⇒ Click the Dyn/Kin analysis icon in the
Analysis group (Fig. 4.22).
⇒ The Dynamic analysis execution window will Fig. 4.22

Dynamic analysis icon in analysis tab
appear. Set ‘5’ for execution time, and ‘100’ for
the frame number (Fig. 4.23).
Select ‘IMGALPHA’ for the integrator in the
Parameter tab (not shown here. Refer to sect. 5.7
(3)-(c)).
⇒ Click the Simulate button, and the Save As

Simulate button
window will appear. Save the created data as
‘s_pend_1’ (though any arbitrary name is
acceptable), and the analysis will start.
⇒The following message will appear: 「Analysis
is accomplished successfully」
Fig. 4.23 Setting the analysis condition
signaling that the analysis has been completed.
- Animation and graph viewing
Animation is handled by video operation and graphs are viewed by using plot output.
⑦ Click the Play / Pause button in the Animation control in the Analysis tab (Fig. 4.24).
Fig. 4.24 Animation Control bar

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⇒ Animation of the pendulum motion appears in the
Working window. The pendulum is observed to swing
right and left.
⑧ Click the Plot Result icon in the Analysis tab (Fig.
4.24).
⇒ The view is switched to the Plot window.

⇒ Click on ‘Pos_TX’ under ‘Bodies/Body 1’ in the
Plot database window, which is shown on the right hand
side of the GUI (Fig. 4.25). ‘Pos_TX’ means position
and translate-X (translational motion for the X direction).
⇒ The time history for X directional motion of the
pendulum ‘Body 1’ at the center of mass is drawn (Fig.
4.26).
Fig. 4.25 Plot database window
⇒ A similar procedure holds for ‘Pos_TY’ for the Y
direction.
- Considerations of pendulum motion
The pendulum's motion was
observed by checking the animation and
plot outputs. From the plot graph, the
motion of the pendulum bar attached to
the revolute joint at the end of the bar
can be qualitatively evaluated.
Displacement in the X direction
vibrates in a sinusoidal way, and has a

Fig. 4.26 Time history response
250 mm amplitude. Displacement in the
Y direction vibrates in a sinusoidal way
120
between －480mm and －500mm. It is also observed that the response in the X direction has
almost three cycles in 5 seconds which corresponds to a frequency of 0.6 Hz. From the theory of
vibration, the natural frequency of a pendulum is given by

1 𝑔
𝑓= √𝑙 (4.1)
2π
for small amplitude oscillation, where l is an equivalent length of the pendulum. If the density of the
bar is assumed to be uniform, it is known that the equivalent length, l becomes 2/3 of the total length
of the bar. Thus, l＝(2/3)×1000＝666.67 mm. Therefore, the natural frequency of the pendulum is
calculated as
1 𝑔 1 9800
𝑓=
2π
√ 𝑙 ＝ 2π √666.67 ＝0.610 Hz (4.2)
This coincides with the value obtained from the computational analysis presented above.
[Exercise ] Analyze the same pendulum using RecurDyn. Assume that the pendulum is resting at
the initial configuration at 90° and 120° from the vertical line. Compare the motions between 90°
and 120° for the initial configuration.
(3) Motion analysis of a pendulum – 2; CAD data format
In item (2) in this section, a simple pendulum was analyzed by creating the input data using the
RecurDyn modeler. Here, users will learn how to create an analysis model by importing CAD data.
The data can be downloaded from the MotionLabo, Inc’s web page
(http://motionlabo.com/archive/Pendulum.zip, which was originally created by FunctionBay K.K.,
Japan). Fig. 4.27 shows the CAD data of a steel pendulum. Input procedures will be explained
briefly. Duplications written in item (2) of this section 4.2 will be omitted as much as possible. The
unit system adopted is mm, kg and s for length, mass and time, respectively. The gravitational
constant will be taken as 9806.65 [mm/s2].
121
ceiling
Bearing
Y
Pendulum
Z X
Fig. 4.27 Pendulum model created from imported CAD data
- Preparation
System button
① Start up RecurDyn software. Refer to section 4.2 (2).
② Type in 'R_Pend' for the model name.
⇒ Select ‘MMKS’ from the pull down menu.

Fig. 4.28 System button
Select ‘-Y’ from the pull down menu. Click the ‘OK’
button.
- Body Creation
③ Download ‘Pendulum.x_t’ from the address stored
pendulum CAD data and save it in the user’s folder.
⇒ Click on the System button（Fig. 4.28). Import icon
⇒ Click on the Import icon (Fig. 4.29).
⇒ Select ‘Pendulum.x_t’ in the reference folder and
click the ‘Open’ button to open the file (Fig. 4.30).
Fig. 4.29 Import icon
122
Fig. 4.30 Specifying CAD data file
After importing the data, the pendulum body
appears in the Working window of RecurDyn
(Fig. 4.31). Since imported CAD data contains
information including coordinates, orientations,
and body shapes, users are not requested to
specify these parameters. But since connection
conditions (e.g. joint, force and contact) are not
specified, the main task for users is to create an
analysis model to specify these conditions Fig. 4.31 Imported body
between the bodies.
The imported bodies shall now be confirmed (Fig. 4.32). ‘ImportedBody1’and ‘ImportedBody2’
are the two bodies in the database window that are confirmed to be imported. Clicking on each one
individually assures that they are two separate bodies.
ImportedBody1：pendulum bar & Pin-support part
ImportedBody2：Tip mass
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The imported data ‘Pendulum.x_t’ does not contain a ceiling part. But since the ceiling part is
originally attached to the ground, it is not necessary to create a new ceiling part.
Fig. 4.32 Confirmation of imported body
- Joint creation
First, set a joint to connect ‘ImportedBody1’ and ‘ImportedBody2.’
④ Click on the Professional tab.
⇒ Click on the Fixed joint icon in Joint group.
⇒ Select ‘Body, Body, Point’ in the pull down
menu of the Modeling Option Toolbar (Fig.
4.33)
Fig. 4.33 Fixed joint icon
124
⇒ Click ‘ImportedBody1.’
⇒ Click ‘ImportedBody2.’
⇒ Click on any point near the mass body (Fig. 4.34).
As was described in section 4.2 (2), a
supporting point (or bearing point) of the
pendulum, which in this case ‘ImportedBody1’,
should be fixed to ‘0, 0, 0’ which is Ground, with
a revolute joint (see ④ in sect. 4.2 (2)).
Fig. 4.34 Definition of constraint conditions
- Dynamic analysis execution
Click on the Dyn/Kin analysis icon as was done
in 4.2 (2).
⇒ The execution window for dynamic analysis
will appear. Set ‘5’ (s) for the analysis time
(End Time) and ‘500’ for the frame numbers
of animation (Step) (Fig. 4.35).
Select ‘IMGALPHA’for the integrator in the
Parameter tab (not shown here).
⇒ Click on the ‘Simulate’ button.
Fig. 4.35 Setting analysis conditions
Similar to ⑦ and ⑧ of section 4.2 (2), the time histories of pendulum motions can be viewed.
As an example, RecurDyn was used to both create a model and execute an analysis for a simple
pendulum. The steps that followed showed that this is a fairly simple and easy task.
125
The appeal and different possibilities for RecurDyn have been studied by creating and running
analysis models for simple examples up until section 4.2. In order to analyze and evaluate practical
problems, it is necessary to learn more about RecurDyn in a systematic and organized way. This will
help users effectively apply RecurDyn based on this knowledge. In this chapter, in order for users to
use RecurDyn effectively, several concepts will be explained regarding specialized contents within
RecurDyn. Since some parts have already been explained, duplication will be avoided as much as
possible.
5.1 RecurDyn's user interface
The following part: ‘Language settings’ should be skipped when the English version is desired.
- Language settings (Fig. 5.1)
To change the language to Japanese,
Click Start button ⇒ all programs ⇒
FunctionBay Inc. ⇒ RecurDyn V8R2 ⇒
Language Selection ⇒ 日本語
Fig. 5.1 Switch English / 日本語
The main composition of this section is as follows:
(1) Start RecurDyn window
(2) Important items while working
(3) RecurDyn’s GUI
(4) Operational functions for model creation
5.1.1 Starting up RecurDyn window
When RecurDyn is starting up, the ‘Start RecurDyn’ window will appear as in Fig. 5.2 and soon
after is ready for use. The upper row is for new model creation and the lower one is for recalling
126
existing model files.
(1) New model creation
A new model file is created by clicking the
‘OK’ button after inputting a model name
(Name), and selecting a unit system (Unit) and
direction of the gravitational force (Gravity).
(2) Recalling existing model files
When recalling an existing model file, click
the ‘Browse’ button in ‘Open Model’ or click
the model icon appearing as a thumbnail in the Fig. 5.2 RecurDyn Start window
‘Recent Models’ section.
Other methods: Click the ‘Open’ icon in the
Quick Access Toolbar or the System button.
- Model name: Any name is acceptable. Here, the name ‘Model1’is used.
- Unit system: Select one from the pull down menu or set a different unit system by using the
settings button
- Gravity: Specify direction of the gravitational force. The default is: –Y direction.
5.1.2 Important considerations when working with RecurDyn
(1) Unit systems
(a) Assigning unit systems other than those given in the list
The unit systems used in the analysis of engineering problems are specifically important. In order
to avoid cumbersome unit conversion, using the SI (MKS) unit system, which is provided in the pull
down menu, is essential. But in many practical engineering situations, since various unit systems may
be used, unit system conversion is often necessary. In RecurDyn, the unit systems listed in Table 5.1
127
are registered and can be used.
Table 5.1 Available unit systems
Force Mass Length Time
Setting and selecting method:

1
1) Click ‘Setting’ in the RecurDyn Start window
（Fig. 5.3）⇒ Click the ‘Add’ button (Fig.
5.4) ⇒ Name the unit system which will be Fig. 5.3 ‘Setting’ button of
‘Start RecurDyn’ window
created. Specify unit of force, mass and length
from the pull down menu (see Table 5.1). ⇒
Click the ‘OK’ button.

3
2) Select a newly registered unit system in 1)
above from the pull down menu in the

2 4
RecurDyn Start window.
Fig. 5.4 Setting of various units
(b) Global unit system and local unit system
The unit system specified by the newly created window is a global unit system and can’t be
changed once it is determined. The current unit system is shown in the right side corner of the Status
bar in the GUI (see Fig. 5.8). Apart from the global unit system, each entity such as body and force
can define its own local unit system. This can be defined from ‘General’ in the Property dialog box
128
and is converted to the global unit system, and is saved when the Property dialog box is closed.
(c) Angle units
Radian is the standard angle unit. Radian/time is used as a unit of angular velocity, and if second
is used for time, angular velocity is given in [rad/s]. Angular acceleration is given in [rad/s 2]. Degrees
can be also used as the local angle unit. In this case, ‘D’ will be used as the variable representative for
degrees (e.g. 180 degrees  180D).
(2) Working modes
(a) Working mode types
There are three working modes for creating and editing models in the RecurDyn window as will
be described below. It is important to be aware of which mode users are operating in. This can be
confirmed by the indicator shown in the upper left corner of the Working window.
- Assembly mode: This mode is used for creating and editing bodies, joints, forces, and contacts.
Computations are also performed in this mode. The title on the screen is shown as ‘Model name.’
- Body edit mode： This mode is used for creating and editing shapes and markers of bodies. The
title on the screen is shown as ‘Body name@Model name.’
- Profile editing mode: This mode is used for creating profiles in the Body edit mode.
The title on the screen is shown as ‘Body name. File name@Model name’.
(b) Switching between working modes
- Assembly mode  Body edit mode
Click an object body, or right-click the body name
in Database window ⇒ Select ‘Edit’ (Fig. 5.5).
- Body edit mode  Assembly mode
Geometry tab in Ribbon ⇒ Click on ‘Return’ icon
in ‘Exit’group (Fig. 5.6), or right-click any point on Fig. 5.5 Working mode change
129 Assembly  Body edit mode

the Working window ⇒ Select ‘Exit’ (Fig. 5.7).
Fig. 5.6 Return icon within Working mode change
Fig. 5.7 Working mode change Select ‘Exit’
5.1.3 RecurDyn’s GUI
The RecurDyn’s GUI (Graphic User Interface) will be briefly explained. The GUI is composed of
a system button, several types of bars, windows, tabs and ribbon as shown in Fig. 5.8. The functions
and roles for these items are as follows:
- Window TitleBar: Displays the file name of a model.
- System Button: File operation, layout, color change and customizations are displayed.
- Quick Access Toolbar: Displays icons which are frequently used in file operation.
- Ribbon: When one of the tabs (e.g. professional, analysis, flexible, etc.) is open, the field called
‘ribbon’ appears. In the ribbon, there are icons of frequently used functions.
- Toolbar: Displays function icons which are frequently used in creating the analysis model.
* Modeling Option Toolbar: Used for selecting an option which is required for creating entities.
* (Modeling Command) Input Toolbar: Key for numerals, vectors, body names and others during
model creation.
* View Control Toolbar: Used for controlling the view, switching rendering modes, icon setting,
grid setting, working plane setting, and for assisting operations and other tasks.
130
* Render Toolbar: Used for selecting the rendering type, projection, and depth-through or depth-
top view methods.
* Professional Toolbar: Used for creating bodies, joints, forces and contact elements.
- Working Window: Displays entities (bodies, joints, forces, markers, and others) and graphics from
analysis results (animations, plots, and others).
- Database Window: Tree structure displaying entities (bodies, joints, forces, expressions and others)
of a created model.
- Message (I/O)Window: Outputs error messages during modeling and computing, reports computing
time, and displays analysis results.
- Status Bar: Displays messages during model data creation, coordinates at a pointer location, and
coordinate and unit system type.
System Button Quick Access Toolbar Window Titlebar
Tab
Ribbon
Modeling Option Toolbar (Modeling Command) Input Toolbar Toolbar
Database Window
WorkingWindow
Output Window
Status Bar
131
Fig. 5.8 RecurDyn’s GUI
(1) System Button
File operations like change theme color, customization and help are accessible (Fig. 5.9).
New Create a new model file

Open Open an existing model file
Recent File Display recently used files
Close Close an active working window
Save Overwrite the current working model as ‘*.rdyn’
Save As Save the current working model with a new name
Import Import files (see sect. 5.1.4 (1))
Export Export files (see sect. 5.1.4 (1))
Extract Save the configuration at a specified time
from simulation results as a new model
Customize Customize various operations such as view operation
Theme Color Change theme color
Display various help items such as information on
Help RecurDyn Online Help, RecurDyn Help, ProcessNet
Help, RecurDyn Web Site, and RecurDyn version
(About RecurDyn)
Exit Exit RecurDyn Fig. 5.9 RecurDyn
System Button
(2) Quick Access Toolbar
Frequently used icons such as file operations are available in ‘Quick Access Toolbar.’ Fig. 5.10
shows the ‘Quick Access Toolbar’ which involves the default function icons. Users can add new
functions by registering this Toolbar.
Fig. 5.10 RecurDyn’s Quick Access Toolbar
132
- New: Create a new model file Quick Access Customizing Command
- Open: Open an existing model file Toolbar:
- Save: Overwrite the current working model as
- Toggle ‘Quick Access Toolbar’ on and
‘*.rdyn’
off
- Save As: Save the current working model with a
- Add commands (Add more commands)
new name
- Add functions to ‘Quick Access
- Open: Open the current directory
Toolbar’
- Undo: Cancel the last command executed
- Show Below the Ribbon:
- Redo: Cancel undo execution
Display ‘Quick Access Toolbar’ below
- Exit: Get out of the current working mode and
the Ribbon
return to the upper level working mode (such as
- Show Above the Ribbon:
from body editing mode to assembly mode)
Display ‘Quick Access Toolbar’ above
- Show Simulation Toolbar: Display ‘Simulation
the Ribbon
Toolbar’
- Minimize the Ribbon: Minimizie
- Customize Quick Access Toolbar: Customize
ribbon display
‘Quick Access Toolbar’
(3) Ribbon
Fig. 5.11 shows the Ribbon including names of tabs and groups with many icons. The ribbon is a
summary of commands available for creating analysis models effectively. These consist of tabs and
groups corresponding to various operations. Fig. 5.11 also shows the System button and Change ribbon
size button.
System button Tab Change Ribbon size button
Group
Fig. 5.11 Composition of the Ribbon

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- Ribbon keyboard shortcuts
Quick access to RecurDyn operations can be made by using the alpha-numeric keyboard shortcut
keys shown in Fig. 5.12.
Fig. 5.12 Display of shortcut keys
The shortcut key process involves following steps:
1) Push Alt key ⇒ The system button and keyboard shortcut alphabetic keys appear just below
the 12 tabs as shown in Fig. 5.12.
2) Type the keyboard shortcut key of the tab which corresponds to the desired operation ⇒
Letter(s) for shortcut appears ⇒ Type the desired letter(s) character ⇒ Gain access to
function
There are 12 tabs within the Ribbon in Fig. 5.11 and Fig. 5.12 labeled as Home, SubEntity, Analysis,
Professional, Flexible, Durability, CoLink, AutoDesign, Communicator, Particles, Toolkit, and
ProcessNet.
(a) Home tab
Fig. 5.13 The Home tab in the Ribbon
1) Clipboard: Copying and deleting the entities (Fig. 5.14)
- Copy： Copy the entities
- Paste： Paste the entities
- Cut： Cut the entities

Fig. 5.14
- Delete： Delete the entities Clipboard group
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2) Working Plane: Set Working plane (see sect. 5.2). There are two grid types:
Car (Cartesian coordinates) and Cyl (Cylindrical coordinates).
In the case where Car is selected (Fig. 5.15(a)):
- XGrid Size : Specify grid size for the X direction
- YGrid Size : Specify grid size for the Y direction
- Grid type : Select Cartesian coordinates

Fig. 5.15(a) Working plane
(In case of Car)
In the case where Cyl is selected (Fig. 5.15(b)):
- Angle : Specify grid angle
- Radius : Specify grid radius
- Grid type : Select Cylindrical coordinates

Fig. 5.15(b) Working plane
(In case of Cyl)
3) Measure: Measure the angle, radius, distance and mass for a concerned entity in the analysis
model and the results (Fig. 5.16).
- Angle : Measure the angle
- Radius : Measure the radius
- Distance : Measure the distance
- Mass : Measure the mass Fig. 5.16 Measure group
4) Tools: Create and edit bodies (Fig. 5.17)
- Merge of bodies: Merge multiple bodies
- Mirrored copy: Mirrored copy of bodies with
respect to the specified plane

Fig. 5.17 Tools group
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- Spline Reload: Reload spline data
- Delete Unused Markers: Delete unused markers
- Close All Dialog: Close all open dialog windows
- Clear Undo History: Clear undo history
5) Window (Fig. 5.18):
- Database: Toggle the database window on and off
- Message: Toggle the output window on and off
- Window: Window operations (Fig. 5.19)
* New Window: Open a new window Fig. 5.18

Window’s ON/OFF icons
* Cascade: Display windows in a cascade format
* Tile – Horizontal: Display windows in a tiled
horizontal format
* Tile – Vertical: Display windows in a tiled vertical
format
* Arrange Icons: Rearrange the icons
* Split: Display windows in a split format

Fig. 5.19 Window operations
6) Property Update (Fig. 5.20):

This menu is only viewed from within the body editing mode.
- Update Property: While adding, modifying, or
editing the bodies in the Body edit mode, mass
properties including the location of mass markers
are updated by clicking this icon.

Fig. 5.20 Property update
7) Model Setting: Set properties in the model (Fig. 5.21)
The set properties defined in the model can also be imported and exported using this icon.
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- Gravity: Set gravity
- Light: Set light source
Fig. 5.21 Model setting group
- ProcessNet: Set execution option of ProcessNet
- Display: Set display viewing
- Simulation: Set simulation items
- Flex (Flexibility): Set FFlex and RFlex items
- Set As Default: Register model settings as default
- Reset All Settings: Reset model to initial settings
- Import: Import model settings
- Export: Export model settings
(b) SubEntity tab (Fig. 5.22)
SubEntity is a complementary function used when entities such as bodies, joints, and forces are
defined.
Fig. 5.22 The SubEntity tab in the Ribbon
1) Parameter: Set parameter values and parametric points (Fig. 5.23)
- PV: Set parameter values
- PP: Set parametric points
- PVC: Set connectors for parameter values

Fig. 5.23
- PPC: Set connectors for parametric points Parameter group of SubEntity
- String: Set the character string in User Subroutine
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2) Expression (Fig. 5.24)
- Spline: Set spline data
- Expression: Create expressions
- USUB: Register Users’ SUBroutines

Fig. 5.24
- Request: Set request
Expression group of SubEntity
3) Equation (Fig. 5.25)
- Variable: Create algebraic equations
- Differential: Create differential equations Fig. 5.25

Equation group of SubEntity
4) Design Study (Fig. 5.26)

Set the design parameter study
- DV: Set design parameter values
- PI: Set design objective functions (Parameter index) Fig. 5.26

Design study group of SubEntity
5) Material (Fig. 5.27)
- Property: Register material properties
Fig. 5.27
Material property group of SubEntity
(c) Analysis tab (Fig. 5.28)
This tab is used for Analysis execution, analysis control, and graphs and plots displaying analysis
results.
Fig. 5.28 The Analysis tab in the Ribbon

138
1) Simulation Type: This is used for the execution of various analyses (Fig. 5.29).
- Eigen: Execute Eigenvalue analysis
- FRA: Execute Frequency Response Analysis
- DOE: Optimal Design Execution Fig. 5.29

Simulation type group of analysis tab
- Scenario: Scenario file creation for scenario analyses and batch processes
- Pre: Execute model preview
- Static: Static equiliburium analysis
- Dyn/Kin: Dynamic/Kinematics analysis
2) Sim Control (Fig. 5.30)
- Pause: Pause current simulation analysis

- Resume: Re-start a paused analysis
- Stop: Stop current simulation analysis
Fig. 5.30
Sim control group of analysis tab
3) Animation Control (Fig. 5.31)
Top row:
- Animation controls: Various controls for animation incl.
record.
Second row-on the right: Fig. 5.31
Animation control group of analysis tab
- Animation scaling: Set scaling factor for animations. The
factor can be changed before pre-setting.
- Select Camera: Set the camera's position and angle when viewing an animation
- Animation Control Configuration: Set the speed when viewing an animation
- Animation Frame: Frame number setting for the current animation
- Animation Slider: Frame number display for the current animation. Animation frame position
can be changed by moving a slider right and left.
139
4) Eigen Value Animation: Play animation of the results
of eigenvalue analyses using RecurDyn/Linear (Fig. 5.32)
- Mode Shape: Specify the viewing mode number

- Repeat: Specify the repeated viewing number
Fig. 5.32 Eigenvalue animation group

of the Analysis tab
5) Plot: Start up plotter (Fig. 5.33)
- Plot Result: Start up plotter

- Plot Result With Multi Imported data: Start up plotter for
multiple data
- FRA Plot: Start up plotter for frequency response
analysis
Fig. 5.33 Plot group
of the Analysis tab
6) Scope: View in a small modeling window (Fig. 5.34)
- Angle: View an angle between two specified markers

- Point To Point: View information between two specified
markers
- Expression: View outputs of expression
- Entity: View outputs of entities
- Gap: View gaps and intersections between bodies Fig. 5.34 Scope group
of the Analysis tab
7) Post Tool: Functions for post-processing (Fig. 5.35)
- Trace:
+ Marker Trace：Create a list of markers for animation tracing
+ Curve Trace： Create a curve with tracing markers after
execution of an analysis
Fig. 5.35 Post Tool group of
- Force Display: Create a list of force vectors for animation viewing the Analysis tab
-(d)State Matrix: tab

Professional View and output for state-space matrices of a
linearized plant model
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(d) Professional tab (Fig. 5.36)
Create bodies, and define joints, forces and contact elements.
Fig. 5.36 The Professional tab in the Ribbon
1) Body (Fig. 5.37)
- Create various types of bodies
Fig. 5.37 Body group

of the Professional tab
2) Joint (Fig. 5.38)
- Create various types of joints
Fig. 5.38 Joint group

3) Force (Fig. 5.39)
- Define various types of forces
Fig. 5.39 Force group

4) Contact (Fig. 5.40)
- Define various types

of contact elements
Fig. 5.40 Contact group of the Professional tab
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5) Sensor (Fig. 5.41)
- Define various types of sensors (see sect. 5.5)
Fig. 5.41 Sensor group

in the Professional tab
6) SubSystem (Fig. 5.42)
- Define sub-systems
(e) Other tabs Fig. 5.42 SubSystem group

in the Professional tab
1) Flexible tab
The Flexible tab is used for the Flexible tool-kit (Fig. 5.43).
Fig. 5.43 Flexible tab in the Ribbon
2) Durability tab
The Durability tab is used for the Durability tool-kit (Fig. 5.44).
Fig. 5.44 Durability tab in the Ribbon
3) CoLink tab
The CoLink tab is used for the CoLink tool-kit (Fig. 5.45).
Fig. 5.45 CoLink tab in the Ribbon
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4) AutoDesign tab
The AutoDesign tab is used for the AutoDesign tool-kit (Fig. 5.46).
Fig. 5.46 AutoDesign tab in the Ribbon
5) Communicator tab
The Communicator tab is used for the Communicator tool-kit (Fig. 5.47).
Fig. 5.47Communicator tab in the Ribbon
6) Particles tab
The Particles tab is used for the Particles tool-kit (Fig. 5.48).
Fig. 5.48 Particles tab in the Ribbon
7) Toolkit tab
The Toolkit tab is used for the tool-kits (Fig 5.49).
Fig. 5.49 Toolkit tab in the Ribbon
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8) Customize tab
The Customize tab is used for the ProcessNet (Fig. 5.50).
Fig. 5.50 Customize tab in the Ribbon
(4) Toolbar
Frequently used functions in RecurDyn are displayed as icons in the Toolbar (Fig. 5.51).
Fig. 5.51 Toolbar
When the Toolbar is not displayed, the following
step can be taken to show the Toolbar.
By right-clicking in a blank area on the Ribbon
or Toolbar, a floating menu is shown (Fig. 5.52).
Check the item to be displayed. Then, the related
Toolbar will be displayed
Fig. 5.52 Various types of Toolbars
(a) View Control Toolbar
‘View Control Toolbar’ is a Toolbar which controls viewing of models during working
(Fig. 5.53).
144
Fig. 5.53 View Control Toolbar
1) View control (Fig. 5.54)
View control is performed (see sect. 5.2(3)).

Fig. 5.54 View control display
2) Rendering mode (Fig. 5.55)
The view mode for the body is changed
(see sect. 5.2(3)). Fig. 5.55 View mode display
3) Icon setting (Fig. 5.56)
Icon setting is performed (see sect. 5.2(3)). Fig. 5.56 Icon setting display
4) Grid setting (Fig. 5.57)
Grid setting is performed (see sect. 5.2(3)). Fig. 5.57 Grid setting display
5) Working Plane changing (Fig. 5.58)
Working Plane changing is performed Fig. 5.58 Working plane setting display
(see sect. 5.2(3)).
6) Operation assistance (Fig. 5.59)

Fig. 5.59 Operation assistance display
Operation assistance function
- Auto Operation: If this is switched ‘On’, after creating an entity, the process will continue to
remain in entity creation mode. The key is useful for repeated operations and for creating
identical entities (see Fig. 5.91).
- Select : Return to selection of entity
ex.) If this icon is clicked during creation of a joint, said creation is canceled, and the step
returns to entity selection mode (see Fig. 5.91).

145
7) Object Control (Fig. 5.60)
This function is for translating or rotating the created bodies

Fig. 5.60 Object Control Display
and markers with respect to the specified reference frame.
There are basic type and advanced type in ‘Object Control’.
- Basic Object Control: (see sect. 5.1.4 (3)-(a))

- 8)
Advanced
Layer Object Control: (see sect. 5.1.4 (3)-(b))
8) Layer Setting (Fig. 5.61)
Setting the layer (see sect. 5.2(6)) Fig. 5.61 Layer Setting Display
(b) Rendering Toolbar (Fig. 5.62)
Fig. 5.62 Rendering Toolbar

1) Selection of area (Fig. 5.63)
Select area by clicking and dragging with the
mouse.
Fig. 5.63 Select Area Display
2) Display (Fig. 5.64)
Displaying functions for entities such as bodies in
the Working window
- Ortho: Standard projection (Orthogonal projection)
- Perspective: Perspective projection Fig. 5.64 Displaying function
- Cutting Plane: Shows cutting surfaces
- Modify Cutting Plane: Modifies cutting planes
(c) Professional Toolbar (Fig. 5.65)
The Professional Toolbar is used for creating bodies,

Fig. 5.65 Professional Toolbar
joints, forces, and contact elements.
146
(d) Simulation Toolbar (Fig. 5.66)
The Simulation Toolbar is used for conducting analyses and for anlysis result confirmations. This
toolbar can also be activated by clicking the ‘Show Simulation Toolbar’ icon in ‘Quick Access
Toolbar’.
Fig. 5.66 Simulation Toolbar
(5) Command Toolbar
(a) Modeling Option Toolbar (Fig.5.67)
Select a type of modeling and specify coordinates parameters. Select a type from the pull down
menu.
(b) Input Toolbar (Fig.5.68)
The input field of the Input Toolbar is located in the right blank bar of the Modeling Option
Toolbar. Coordinates, parameter values, body name and marker name are input when defining
joints and forces.
Modeling Option Toolbar

Input Toolbar
(a) Direct input (b) Drag and drop from Database window
Fig. 5.68 Input Toolbar
147
Two input methods:
- Direct input. Input values are separated by ‘ , ’. (ex.) 10, 20, -50 then type in ‘enter’
- Drag and drop from the Database window, then type in ‘enter’ or press the ‘enter’ key.
Input variables for input fields are given as the following table.
Table 5.2 Values for input variables in the input field
Variable Value Example

Body Body name Body1
Point Coordinates 0,50,10
Direction Direction vector 0, 1, 2
Joint Joint RevJoint1
Distance Distance 100
Solid Name of Solid Box1
Face Name of Plane Face1
(6) Working Window
The Working window is located at the center of RecurDyn’s GUI. New and existing models will
be created and/or edited within this window. The inertial reference frame is automatically created at
the center of the window. At the lower left corner, the direction of gravitational force is shown.
(7) Database Window (Fig. 5.69)
The Database window is located on the right-hand side of the GUI.
Created entities such as bodies and joints are listed in the
Database window.
‘Property’ can be selected by double clicking the name of
the entity or by selecting ‘Property’ in the floating menu
after right clicking the name of entity. Doing so will open
the Property dialog box.

Fig. 5.69 Database Window
148
By right clicking in the blank space of the Display Database window on the screen:
Database field, a floating window will appear When the Database window is not shown:
for selecting the sorting method. Home tab  Click Database icon in
(a) Change order of display Window group  The Window will
- Sort By Creation Time appear (Fig. 5.70).
- Sort By Name The Database window can be moved to an
(b) Change state of display arbitrary position by dragging using the
- Expand: Display information in a tree mouse.
structure
- Collapse: Display at a minimum size
Fig. 5.70 Database icon
(8) Message Window
Error messages and analysis progress reports are displayed in the Output window:
- Message mode: Error messages will be shown during modeling and alerts during analyzing.
- Analysis mode: A report of the analysis progress, completion and elapsed time for completion
will be shown.
1) Displaying Output Window/Database Window
When the Output window or Database window is
not shown, the Home tab in the Ribbon  Click
Message icon of the Window group  the

Fig. 5.71 On/Off icon of
Window appears (Fig. 5.71). Message window
149
2) Delete and copy of messages
Right click on the Output Window  then select clear button
Right click on the Output Window  then select copy button
3) Opening ‘msg’ or ‘out’ files from the Output Window
Right click on the Output Window  Select ‘Display msg file or out file’.
(9) Status Bar (Fig. 5.72)
The Status Bar is located at the bottom of the GUI (see Fig. 5.8). The following information can be
gained.
Quick help message Coordinate Mode Local Coordinates
Global Coordinates Model Units
Fig. 5.72 Status Bar
- Quick Help Message: During creation of entities, specification on what information
users should give next will be presented.
- Coordinates mode: Car; Cartesian coordinates, Cyl; Cylindrical coordinates
- Global coordinates: Coordinates at the pointer location with respect to the Inertial frame
- Local coordinates: Coordinates at the pointer location with respect to the reference
frame of the current Working Plane.
- Unit system: Units of the model will be shown as Global unit systems.
150
(10) Keyboard shortcuts
Table 5.3 Functions and symbols of shortcut keys
New Ctrl+N Rotate R Save Ctrl+S Working Shift+W
Plane Setup
Open Ctrl+O Select Zoom S Copy Ctrl+C XY Plane Shift+X
Print Ctrl+P Zoom Z Paste Ctrl+V YZ Plane Shift+Y
Delete Del Fit F Cut Ctrl+X ZX Plane Shift+Z

Cancel ESC Select Operation E New Plane F6 Direct F2
Rename
Help F1 Auto Operation A Previous Shift+F6
On/Off Plane
5.1.4 Operation functions for model creation
(1) Import and export
(a) Import
Various types of files including CAD data file for model creation used within RecurDyn can be
imported. Animations of computational results can’t be replayed if the results are not included in the
currently opened files. In such cases, animations of analyses can be carried out by importing the
analysis results file.
Importing CAD data file for analysis results (animations) are explained here. Other imported files
will be explained in chapter 7.
Importing CAD data:
- Import by dragging and dropping (Fig. 5.73)
Drag and drop the CAD data from the Explorer window to the RecurDyn window
using the mouse.
151
Fig. 5.73 Import by dragging and dropping
Importing CAD data or analysis results (animations):
- Import using the System button (Fig. 5.74)
1) Click System button then click ‘Import’
2) Import dialog box will open (Fig. 5.75), then select
the required CAD data or animation data file (*.rad：
RecurDyn Animation Date File), and then click the
open button.
Fig. 5.74 ‘Import’ in System Button
152
Fig. 5.75 Specify the file
(b) Export
Various types of files within RecurDyn can be exported. The exporting screen shot shall be
explained as an example (see chapter 7 for other exportable files).
Export for screen shot:
- Export using the System Button (Fig. 5.76)
1) Click System Button, then click ‘Export’
2) Export dialog box will open (Fig. 5.77), then
select Screen Shot File (*.bmp) among the various
types of files.
3) Specify the name then click the save button.
Fig. 5.76 ’Export’ from System Button
153
Fig. 5.77 Specify file name and file type
(2) Copy and delete for entities
Copy, cut, paste, and delete are carried out for the created bodies and shapes.
(a) Copy (Fig. 5.78)
1) Select bodies (in the assembly mode) or shapes (in the body editing
mode).
2) Click the Copy icon in the Clipboard group of the Home tab
Ribbon
* This can also be done by pressing the shortkey ‘Ctrl + C’.

Fig. 5.78 Copy
Information on the selected bodies or shapes are copied in the Clipboard.
154
(b) Cut (Fig. 5.79)
1) Select bodies (when in Assembly Mode) or shapes (when in Body
Edit Mode) in the Working Window.
2) Click the Cut icon in the Clipboard group of the Home tab ribbon *
This can also be done by pressing the shortkey ‘Ctrl + X’.
Fig. 5.79 Cut

Information on the selected bodies or shapes are cut and placed in
the Clipboard.
(c) Paste (Fig. 5.80)
1) Select bodies (when in Assembly Mode) or shapes (when in Body Edit
Mode) in the Working Window.
2) Click the Paste icon in the Clipboard group of the Home tab ribbon
* This can also be done by pressing the shortkey ‘Ctrl + V’.

Fig. 5.80 Paste
Information from the Clipboard is pasted in the Working Window.
(d) Delete (Fig. 5.81)
1) Select entities in the Working Window.
2) Click the Delete icon in the Clipboard group of the Home tab
ribbon
* This can also be done by pressing the Delete key.
Fig. 5.81 Delete

The created entities are deleted.
(3) Object Control
(a) Basic Object Control
Translate or rotate created bodies and markers with respect to the specified reference frame in
155
Basic Object Control in the View Control Toolbar.
1) Translate
- Reference Frame: Translation will take place along the axis of the Working Plane marker or the
specified marker. Markers can be selected from the Marker Navigation button in the Working
Window. The default marker is Ground.
- Scalar Translate: A specified entity will be translated by an offset value specified in the ‘Offset
Value’ box along with the axis of the Working Plane marker or the specified marker.
- Vector Translate: A specified entity will be translated in vector form. An offset value for
translation should be specified in vector form in the edit box.
Operation step
① Click the Basic Object Control icon in the
View Control Toolbar.
② Select Translate tab in ‘Basic’ dialog box. (Fig.
5.82)
Fig. 5.82 Translate tab
For Scalar Translate
③ Specify the Offset Value for translation. For Vector Translate
④ Click an entity in the Working window to be ③ Select the Vector Translate option.
translated using the Basic Object Control icon. ④ Specify the amount of translation.
⑤ Click the Control button which corresponds to ⑤ Click an entity to be translated.
the direction to be translated. ⑥ Click the Apply button.
2) Rotate
- Reference Frame: Rotation will take place about the axis of the Working Plane marker or the
specified marker. The same comments described in ‘Translate’ hold for ‘Rotate’.
- Scalar Rotate: A specified entity will be rotated by an offset value specified in the ‘Offset
Value’ box about the axis of the Working Plane marker or the specified marker.
- Align Markers: Align the orientation of specified markers to that of the Reference Frame
specified.
156
Operational step
① Same as ① of Translate.
② Select the Rotate tab in the ‘Basic’ dialog
box (Fig. 5.83).
Fig. 5.83 Rotate tab
For Scalar Rotate For Align Markers

③ Specify the angle to be rotated. ③ Click the Align Markers check button.
④ Select an entity to be rotated. ④ Specify the ‘Reference Frame’ for which
⑤ Click the Control button which the alignment will take place.
corresponds to the direction to be rotated. ⑤ Specify markers and entities to be rotated.
⑥ Click the ‘Apply’ button.
3) Translate/Rotate
Translate and rotate selected entities with respect to the specified marker.
(b) Advanced Object Control
‘Basic Object Control’ for basic operation has been explained in the preceding section (a).
‘Advanced Object Control’ is also available.
(4) View Icons
(a) Icon Setting icons (Fig. 5.84)
Fig. 5.84 Icon setting icons in the View Control Toolbar
- Name On/Off: Toggle the name display of entities and markers on and off.
- Icon On/Off, Icon Size: Toggle the icon display on and off, and adjust icon size.
157
(b) Grid Setting icons (Fig. 5.85)
Fig. 5.85 Grid Setting icons in the View Control Toolbar
- Grid On/Off: Toggle display of the grid icon on and off.
- Snap to Grid: Select points with the grid.
(5) Undo and Redo
(a) Undo（Fig. 5.86）
By clicking the Undo button in the Quick Access Toolbar, the state can be returned to its
preceding state. This can be done up to 20 times. This can also be done by pressing the shortcut
keys ‘Ctrl＋Z’.
Fig. 5.86 Undo button in the Quick Access Toolbar

(b) Redo（Fig. 5.87）
By clicking the Redo button in the Quick Access Toolbar, the return to the preceding state
command can be cancelled.
Fig. 5.87 Redo button in the Quick Access Toolbar
(c) Clear Undo History（Fig. 5.88）
The Clear Undo History command deletes all of the Undo and Redo history data. By clicking the
Clear Undo History icon in Tools group of the Home tab, all the Undo and Redo history data can be
deleted.
158
Fig. 5.88 Clear Undo History icon in the Tools group of the Home tab
(6) Select entities
Selection of the concerned entities within an analysis model is needed for editing the model. There
are several methods for selecting entities in the Entities tab: Select All, Select Box, and Select List.
‘Select box’ selects entities by enclosing the concerned entities in a rectangle. ‘Select List’ selects
entities by specifying the concerned entities in a list. ‘Select All’ selects all entities within the Working
Window. The Select Box is only explained briefly here:
1) Right click in a blank area near the body to be selected
to show right click menu (Fig. 5.89).
2) Click the Select Box in the right click menu (Fig.
5.89). Then, the Select Box will appear as in Fig. 5.90.
3) Click the right hand side arrow in the Box repeatedly
until the required body is appeared. Clicking the left
hand side arrow selects the body reverse order (Fig.
5.90).
Fig. 5.89 Click Select Box from

the right click menu
Fig. 5.90 Select the required body by

clicking the arrow in the Select box
159
(7) Auto Operation and Selection ( in Fig. 5.91)
(a) Auto Operation
This operation is used for continuing to create Fig. 5.91 Auto Operation and Selection in
an entity after pausing its initial creation. Pausing the View Control Toolbar
is executed by clicking ‘Auto operation icon’ ,
or by pressing the short-cut keys ‘E’.
(b) Selection
Press the shortcut keys ‘E’ for selecting the entity.
(8) Operation Cancellation ( in Fig. 5.91)
Canceling an operation can be accomplished by either pressing the ‘ESC’ key or by clicking on
the Selection icon . The Quick help messages in the Status Bar or Modeling Toolbar show the
operation's completion status.
(9) Others
There are other operation functions. Readers can refer to RecurDynHelp(1).
5.2 Working Plane Setting
The Working plane setting in the View Control toolbar of the RecurDyn’s GUI can be used to
change the working plane within the RecurDyn window.
(1) Working Plane
A reference plane for analysis model creation is called the ‘Working Plane’. The default Working
plane is set to be the XY plane. The plane is displayed with white grid lines. Users can define the
Working plane using the following methods:
- Global coordinates as the reference plane
- Current Working Plane as the reference plane
- A specified marker or plane as the reference plane
160
Change to XY
(a) Global coordinates as the reference plane Y
The default XY plane is a dextral coordinate
system in which the X axis points to the right

X
Z
and the Y axis points up. Then, the Z axis
Y
points out of the screen. Other planes are also
defined in the same manner.
X
The ‘View Axis of Working Plane’ can be changed
to the following: (Fig. 5.92)
Fig. 5.92 Select icon for View Axis of
- XY - YZ - ZX - YX - ZY - XZ Working Plane in the View Control Toolbar
(b) Current Working Plane as the reference plane
The current Working plane can be moved to new positions by
using the icons listed below. When users want to return to the
original view after some view changes, this mode is used.
The ‘Working Plane’ can be changed to the following (Fig.

Fig. 5.93 Select icon for
5.93).
position of the Working Plane
- Change to the front - Change to the right
1
- Change to the back - Change to the top
- Change to the left - Change to the bottom

Fig. 5.94 Setup icon for the
Working Plane
(c) Working plane setup with respect to a specified marker 2

2
or a body face in the reference plane
A Working plane can be set by referencing the marker and
body face. This is convenient when a joint is defined by a
body which is set diagonally with respect to the global
reference frame. Fig. 5.95 Working plane setup dialog

161
Operation step:
- Click the Working Plane Setup icon in the View Control
Toolbar to open the Working plane dialog (Fig. 5.94).
- Click the Pl button in the ‘Plane’of the Working plane

Fig. 5.96 Click flat plane
setup dialog box (Fig. 5.95).
- Show a candidate plane as the Working Plane (Fig. 5.96).
Click an arbitrary point on the new Working Plane.
- Input an offset value in the ‘Offset’ window to specify the
offset distance between the chosen plane and Working
Plane (Fig. 5.97).
- Click the OK button.

Fig. 5.97 Offset of Working plane
(2) Grid
Grid is defined as the dots or the lines which are arranged in the working plane within the RecurDyn
window. This arrangement helps users to create analysis models easily. Modeling efficiency can be
gained by snapping the mouse pointer to the grid. Grid setting is done by using the Working plane
setup dialog box (Fig. 5.98) or the box in the Working plane group of the Home tab (Fig. 5.99).
(a) Change using the Working Plane Setup dialog box
Changes can be done by using the Working Plane Setup dialog (Fig. 5.98) (see sect. 5.2 (1) (c))
- Type : Cartesian or Cylindrical
- Width: Width of grid, radius when type is Cyl.
- Height: Height of grid, angle when type is Cyl.
- No.: Number of Half Horizontal Segments
- Thickness: Thickness of grid
- Shape: Shape of grid; point, line, cross

Fig. 5.98 Grid in Working
- Color: Color of grid
Plane Setup dialog box
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(b) Change using Toolbar or Ribbon
The Working Plane Setting window described above is accessed using the Toolbar where
toggling the grid on and off occurs (Fig. 5.99(a)). Changes can be done by clicking Working Plane
group icon in the Home tab (Fig. 5.99(b)).
Snap to Grid
Grid On/Off Working

Plane Setup
(a) Grid on and off (b) Working Plane group icon in Home tab
Fig. 5.99 Size of grid
(3) View Control Translate Fit View Snap
(a) View Control
Rotate
View Control in the View Control Toolbar
of RecurDyn’s GUI is the command which
controls entities in the Working Plane (Fig.
5.100). Each command has a short-cut key
(SC key) in addition to an icon. Operations
can also be carried out by dragging the

Fig. 5.100 View Center in the View
mouse. The main functions are as follows: Control Toolbar
- Translate, SC key : T - Zoom, SC key :Z

- Rotate, SC key : R - View Center: Move the center of
- Fit , SC key : F rotation view, SC key :C
- View Snap: Snap to the nearest view - View Preset, SC key :Ctrl+Shift+G
(plan/Isometric) - Custom View: Customize the view center
- Select Zoom, SC key :S and the angle
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(b) View Change
View Change in the View Control Toolbar of RecurDyn’s
GUI is the command which interactively changes the view side
of an entity in the Working Plane (Fig. 5.101). The main
functions are the following:
View at Front, View at Back, View at Left, View at Right,
View at Top, or View at Bottom provides users a view of each
side of the entity (Fig. 5.101). This is carried out by moving

Fig. 5.101 View Change in
the view point with respect to the Working Plane. Thus, the
the View Control Toolbar
Working Plane is not changed.
等角投影(Isometric View)は「斜視図」あるいは「等角
図」を表す。この意味???
(4) Cutting Plane RecurDynHelp: [User Interface > RecurDyn Graphic User Interface > Render Toolbar]
The Cutting Plane cuts an entity (body) by a
specified plane and displays the cut section of the
entity (Fig. 5.102). Thus the hidden portion inside
the body can be seen.
Fig. 5.102 Cutting Plane in the

Render Toolbar
(5) Rendering Mode
Rendering Mode in the View Control Toolbar Wireframe Wireframe With Shade
provides various types of rendering modes in
order for users to capture body shapes easily.

Shade
View Control Toolbar  Pulldown menu
 Select a proper function (Fig. 5.103).

Fig. 5.103 Rendering Mode in the
View Control Toolbar
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(5) Layer
The layer is defined as a sheet that contains entities. The total layer is composed of multiple layers.
The purpose of the layer is to enable/disable viewing of specific groups of entities. Viewing of the
various entities does not affect the analysis results.
(a) Set layer number
The number of layers is defined in the property dialog
box of an entity. The default value is 1. The procedure
for changing the value is as follows (Fig. 5.104):
- Open the property dialog box of the entity.
- Click the ‘General’ tab.
- Specify the number of layers in the input field.

Fig. 5.104 Set layer number from the
property dialog box
(b) Change Layer View
The viewing method for limited entities which belong

to a specified layer (Fig. 5.105). Layer Number
- Select a layer number to be viewed from the pull-

down menu in the Toolbar.
- Change the layer filter of the Toolbar to the ‘Current
Layer’.
- Specify the layer number in the layer input field Change Layer View
‘Show All’ displays all layers. Fig. 5.105 Change Layer View
5.3 Analysis models and analysis procedures
(1) Kinematics analysis models and dynamics analysis models
Analysis model creations and their creation tools were described in item (1) of chapter 2 and
sections 4.2 (2) and (3) with analysis examples of mechanism problems and multibody dynamics
problems. Before explaining the detailed model creation tools within RecurDyn, the kinematics
analysis model and the dynamics analysis model will be explained.

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In mechanism analysis, there are two types of models. One is the kinematics model and it is created
for the analysis of motion geometry. In the kinematics analysis, the physical quantities such as forces
and moments which induce motion are not involved. Therefore, the body’s mass properties, i.e. masses
and moments of inertia, are not necessary. The only necessary quantities for a body are its geometry
and body-attached reference frame (coordinate system) at which a joint connects to the body. The only
necessary piece of information for the joint attached to the body is the connection type (i.e. joint type).
The body-attached reference frame is set on the body at the point of connection between the body and
the joint. Thus, in the kinematics analysis model, only constraint equations are formulated.
Contrary to this, in the dynamics analysis model, equations of motion are formulated in addition to
the constraint equations. Equations of motion require a body’s mass properties. Therefore the
necessary quantities for the body are its shape, mass distribution and externally applied forces. This
also requires reference frames attached to the points where the external forces are applied.
(a) Kinematics analysis model
Fig. 5.106 shows a four bar link physical model for which analyses are needed. The physical
properties such as size, shape, material, and strength are given in this model. The properties of size,
shape, and joint type are also known for the joint that connects each component. Additionally, joint
information between the base body and its connected component is also given. For the spring, locations
of connecting points, natural length, and physical properties are given.
Coupler
Rocker
Crank
Spring
Base3 Base1
Base2
Fig. 5.106 Physical model of four bar links
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A kinematics analysis model for such a physical model will be explained here. Consider a problem
where a crank is rotating in the counter clock-wise direction at a constant speed. The force is always
applied on the right side of the rocker which connects the spring. Since the configuration of the model
is only considered in the kinematics analysis, force elements do not need to be considered. As a result,
the model for the kinematics analysis can be configured as shown in Fig. 5.107. Information on
geometries of motion (positions, velocities, and accelerations) of the crank, coupler, and rocker can be
calculated from such connection information. In this figure, solid lines between joints are assumed to
be bars without deformation. Two revolute joints located at the lower part in Fig. 5.107 are attached
to the ground. Dynamics information such as mass and force properties of the mechanism’s
components are not needed.
Coupler Revolute Joint

Revolute Joint
Clank Rocker
Revolute Joint
Spring
Base Revolute Joint Base
Base
Fig. 5.107 Kinematics analysis model of four bar linkage
From the kinematics analysis model shown above, information on geometries of motion for each
component are obtained at each time step of computation for a counter clock-wise rotation of the crank.
(b) Dynamics analysis model
Consider the same physical model shown in Fig. 5.106 given in the kinematics analysis as a
dynamics problem. Here, a rotation torque is applied to the revolute joint instead of giving the joint
rotational velocity as in the kinematics analysis. Due to the finite amount of torque, the results of the
dynamics analysis do not coincide with those of the kinematics analysis. Compromises between the
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applied torque and the torque which satisfies the equations of motion will occur. For this motion
establishment, equations of motion and constraint equations simultaneously need to be satisfied.
For the dynamic analysis, the use of information on shape and mass distribution of a body is
inevitable because such a model requires the body’s properties of mass and moments of inertia.
Furthermore, the external force values applied to the body are needed. Thus, the dynamics analysis
model requires an accurate model which reproduces the physical model as much as possible.
From the above considerations in a kinematics analysis model, a body requires a diagram that shows
the connections between the joints and in a dynamics analysis model, a body requires shape and size.
Because of this, the model which is closest to the physical model shown in Fig. 5.106 is usually used
as a common analysis model for kinematics and dynamics.
When RecurDyn is used, this common analysis model is used. Thus, tools and fundamental items
for analysis model creation using RecurDyn’s GUI will be explained. The contents are the GUI,
entities, bodies, joints, and force elements. As was already briefly explained in section 4.2, it is hoped
that the readers can now understand more completely by comparing both descriptions.
5.4 Creation of entities
Entity is a generic term specifying all types of markers, bodies, joints, force elements, and contact
elements. A general procedure for creating such entities is as follows:
- Select the Professional tab to open the Ribbon including Groups
 Select the desired Group then select the desired entity to be created
 Select creation method from the Modeling Option Toolbar
 Click the desired position at which the desired entity will be created in the Working Window
For further steps in the creation of entities, different procedures are provided for different
Groups. Detailed explanation will be provided.
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5.4.1 Bodies and geometries
(1) Bodies
(a) About bodies
Bodies, as used within the RecurDyn software will be explained. A body is one type of entity
which is used to create an analysis model using RecurDyn. Mass properties are defined for each body.
Mass, m and moment of inertia, J i j ( i , j  x, y , z ) are called mass properties of the body (see
‘Section 4.6 Mass properties’ in Part 2 in more detail). Equations of motion for a body can generally
be formulated if the mass properties are known. The mass properties can be reasonably computed
when the geometry of the body is known. It is typical that the geometrical shapes, sizes, configurations,
and areas of contact surfaces be known when contact and frictional forces acted upon the body are
calculated.
Fig. 5.108 shows the conceptual data structure of the ‘Body’ by using a box shaped body as an
example. The body consists of one or more ‘Geometrical entities’: body shape, surface shape, curve
shape, and markers.
Users must select at least one geometrical entity for each body. Mass properties must be defined
for the body mentioned above. Mass properties can be automatically calculated by specifying body
geometry, and the values can be changed by users. Mass and moment of inertia are only defined for
rigid bodes, whereas mass for surfaces, straight lines, and curves are zero.
Fig. 5.108 Conceptual data structure of the ‘Body’ within RecurDyn
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(b) Body types RecurDynHelp: [User Interface > RecurDyn Graphic User Interface > Ribbon ]
There are three types of bodies: Bodies with geometry, General bodies, and Ground (Fig.
5.109(a), (b), and (c)).
Fig. 5.109 (a) Bodies with geometry Fig. 5.109 (b) General bodies Fig. 5.109 (c) Ground
(c) Body creation
There are three methods for creating bodies.

1) Simultaneous body and geometry creation
When the Body icon from the Body group of the Professional tab in the ribbon (Fig. 5.109(a)) is
selected, the dimensions of the body are given. The geometry of the created body can be modified in
the Body edit mode. There are two main working modes: Assembly mode and Body edit mode. By
double clicking a body in the Working window in Assembly mode, the working mode changes from
the Assembly mode to the Body edit mode.
2) Non-geometry body creation then geometry addition in the Body edit mode
This method is used for creating a body with complex geometry in the Body edit mode. Click
either the General or the Ground icon in Fig. 5.109 (b) or (c). The Body edit mode will open. Returning
to the Assembly mode has been explained in ‘Change of Working mode’, described in 5.1.2 (2).
3) Body creation by importing CAD data
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In the Assembly mode, click the System button  click the ‘Import’ icon. Then CAD geometry
data can be imported through Parasolid, STEP, IGES, ACIS, or CATIA files.
Remarks:
- One mechanical part in the CAD data is treated as one body within RecurDyn.
- When a line or a two dimensional component is imported, zero mass bodies are created. Zero mass
bodies are not permitted within RecurDyn, an arbitrary mass is added to the body or the body
will be deleted if it is not required.
(d) Body properties

Body property tabs
Four types of Body properties are specified:
General, Graphic, Origin & Orientation, and Body (Fig.
5.110). The procedure to open the Body Property dialog
is as follows:
⇒ Right click the concerned body in the Working
plane of the Assembly mode, or
⇒ Right click the concerned body name in the
Database window. The floating menu will open.
Then, click ‘Property’ in the floating menu.

Fig. 5.110 Body Property dialog
⇒ The Body Property dialog box will automatically
for bodies with geometry
open (Fig. 5.110).
The function of these tabs, from right to left, is summarized as follows.
1) Body: Confirmation and changes for mass properties of the body.
2) Origin and Orientation: Confirmation and changes for the origin and orientation of the
reference frame of the body
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・Origin: When created, the origin of the body is defined as (0, 0, 0).
・Orientation: To change the body’s orientation, select ‘Angle’ or ‘Coordinate’ from the
‘Type’ pull down menu and input the orientation.
- Angle: When Euler angles are input, this is used.
- Coordinate: A master point and a slave point are simultaneously specified to
define two coordinate axes which are perpendicular.
* Master Point: Specify the master point.
* Slave Point: Specify the slave point.
When the two axes are not perpendicular, the master point has higher priority.
* Euler Angle: Input Euler angles. Select Angle313 (Euler313) or Angle321, then
input required angles in the input box.
3) Graphic Property: Change the color and other graphic properties of the body.
4) General: Confirmation and changes for general information (the entity name, the unit,
and the layer number) of the body.
(2) Markers
RecurDyn uses the term ‘marker’ with a special meaning. The term is fairly similar to the reference
frame and coordinate system which are synonyms in multibody dynamics.
1) Role of markers
As shown in Fig. 5.111, markers and reference frames are defined with respect to a body reference
frame within RecurDyn. RecurDyn uses the inertia reference frame as the global reference frame. The
body reference frame and the inertia reference frame are automatically generated when the body is
created. In many cases, ‘Ground’ is fixed to the inertia reference frame by default and is automatically
generated.
As reference frames are used to describe the motion of a body, RecurDyn defines many body
reference frames. There are various reference points or special points on the body such as joints and
172
sensors. For these points, the body-fixed reference frames are required to be defined. They are
frequently called markers. The body reference frame and the center marker of the body are always
defined for each body. Other markers including joint attached points, force applied points, measuring
points, and marking points are defined with respect to the body reference frame. Fig. 5.112 shows a
coordinate system called ‘marker’ within RecurDyn. Each direction of the axes is distinguished by
one of three colors. In the initial setting, the coordinate system is composed of an X-axis (blue arrow)
pointing right, a Y-axis (pink arrow) pointing up, and a Z-axis (yellow arrow) perpendicular to and
coming out of the XY plane.
Y-axis (pink)
O X-axis (blue)
Z-axis (yellow)
Fig. 5.112 Marker symbol
Fig.
Fig.5.111
5.100Reference
Reference
fame
frame
andand
markers
markers
of aofbody
a body
The inertia reference frame cannot be deleted. From the preceding explanations, the marker is
known to be one of the most fundamental and important entities (elements) in creating mechanism
analysis models.
Fig. 5.113 shows all markers of a four-bar mechanism model within RecurDyn that is shown in
Fig. 5.95 (One set of coordinates with arrows indicates one marker). A revolute joint is set at a
connecting point between the crank and the coupler. This joint marker defines a joint reference frame
and is set at the center of the revolute joint. Markers are set for all other joints. Each body has a body
center marker at its center of mass. As a fundamental marker, the global reference marker is found at
the lower left corner of the RecurDyn Working window. All other markers are set at each body’s
sensor points.
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Center Marker of
Coupler Coupler
Joint Marker
Rocker
Crank
Spring Marker1
Center Marker of
Crank
Center Marker Spring Marker2
of Rocker
Fig. 5.113 All markers of a four-bar mechanism
2) Creation method of markers
When a body with geometry is created, markers are automatically generated. The markers can also
be created independently. When starting RecurDyn, the inertia marker is automatically created at
the following location: (0, 0, 0). Marker icon creation is provided in the Body group of the
Professional tab (Fig. 5.108(a)). First, click the marker icon in this group and select one of the five
different creation methods in the Modeling Option Toolbar described below. Following the
procedure described in the pull down menu of the Modeling Option Toolbar, a new marker is created.
- Body, Point:
⇒ After specifying the existing body in the Working window,

point
click at the point where the marker is to be located (Fig. 5.114).
⇒ Marker direction is identical to that of the Working window. Fig. 5.114 A point on
- Body, Point, Point: Working window
⇒ After specifying the existing body, set a marker at the center
point between two specified points.
⇒ Marker direction is identical to that of the Working window.
174
- Body, Point, Direction, Direction: 3: Specify the
direction of X-axis
⇒ After specifying the existing body, create a 2: Specify the
direction of Z-axis
marker with respect to the body.
⇒ For marker direction, specify the direction of
Z and X axes (Fig. 5.115).
- Point:
⇒ Create a marker with respect to Ground.

3) Marker properties
⇒ Marker direction is identical to that of the 1: Specify the Point
マーカーの原点と姿勢を確認、変更する。
Working window.
Fig. 5.115 Point and direction
- Point, Direction, Direction:
⇒ Create a marker with respect to Ground.
Marker direction is identical to that of ‘Body,
Point, Direction, Direction’.
(3) Mass properties
Specify mass properties of a body.
⇒ Right click the body name in the Database Product of

Mass inertia
window, select Property, then click on the Body
Property tab (Fig. 5.116). Moment of inertia
Mass center
Items within the Property dialog of the Body tab:
- Material property - Mass
- Moment of inertia - Product of inertia

Fig. 5.116 Body Property tab
- Mass center - Initial velocity
(a) Material Input Type
Mass property is specified by the ‘Material Input Type’. It is accessed from either Library,
UserInput, or Density.
175
(b) Reference coordinates for moments of inertia
The moments of inertia of a body are calculated with respect to the center of mass marker of the
body (Fig. 5.117).
Fig. 5.117 The case where the center marker of mass is identical to the Ground inertia
marker
(4) Solid geometries
A solid is defined as a three dimensional geometry with a volume element. The Solid creation
follows the same procedure in either the Assembly mode or the Body edit mode.
- In the Assembly mode, the procedure is: Body group in Professional tab  Solid creation
(Fig. 5.118).
- In the Body edit mode, the procedure is: Solid and Marker group in Geometry tab  Solid
creation (Fig. 5.119).
Various creation procedures are provided, and all start from the Modeling Option Toolbar.
Fig. 5.118 Solid creation Fig. 5.119 Solid creation

in Assembly mode in Body Editing mode
176
(a) Cylinder RecurDynHelp: [Professional > Body > Body in Assemble Mode > Body]
1) Creation method
point
⇒ Click the Cylinder icon from the Body group in the
Professional tab. There are two methods. The following
information shall be input via the Modeling Option Toolbar.
- Point, Point: (Fig. 5.120)

point radius
⇒Specify the two center points of the two end circles of a
cylinder. The radius of the cylinder is automatically Fig. 5.120 Cylinder
generated by a ratio with the length.
- Point, Point, Radius：
⇒Specify the two center points of the two end circles and a
radius for the cylinder.
2) Property (Fig. 5.121)
- First Point: A center point of the end circle of a cylinder.
- Second Point: A center point of the opposite end circle of a
cylinder.
- Radius: Radius of a cylinder.
Fig. 5.121Cylinder properties
(b) Box
1) Creation method
⇒ Click the Box icon from the Body group in the Professional
tab. There are three methods. The following information shall point
be input via the Modeling Option Toolbar (Fig. 5.122).
- Point, Point:
⇒Specify two diagonal points of a rectangle. The depth of the depth point
Fig. 5.122 Box
rectangle is automatically defined.
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- Point, Point, Depth:
⇒ Specify two diagonal points of a rectangular cross section and a depth.
- Point, Point, Half Depth:
⇒ Specify two diagonal points of a rectangular cross section and a half depth.
2) Property (Fig. 5.123)
- First Point: A corner point of a box.
- Second Point: Another diagonal corner
point of a box.
- Depth: A depth of a box.
- Half depth: A half depth of a box.
Fig. 5.123 Box properties
(c) Sphere and ellipsoid
1) Creation method (Fig. 5.124)
⇒ Click the Ellipsoid icon from the Body group in the

radius
Professional tab. There are three methods. The following
direction
information shall be input via the Modeling Option Toolbar. point
- Point, Distance:
distance
⇒ Specify a center point and a radius to define a sphere.
- Point, Direction, Distance:
⇒ Specify a center point, Z-axis direction, and a radius to

point
distance
define a sphere.
- Point, Distance, Distance, Distance:

Fig. 5.124
⇒ Specify a center point, and distances for three axis directions
Sphere and ellipsoid
to define an ellipsoid.
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2) Property
- Radius(X), Radius(Y), Radius(Z):
Input three radii for the X, Y, Z directions.
- Use Perfect Sphere:
Check if a sphere is perfect (Fig. 5.125).
Fig. 5.125 Sphere and ellipsoid Properties

(d) Others
There are other types of geometrical bodies including a Torus, Prism, Cone, and Link.
(5) Curve geometries and surface geometries
Curves and surfaces are bodies that do not have a volume. Apart from an edge or surface of a
body, these can exist alone. The curve and the surface are created from ‘Curve and Surface’ Module
bar in the Body edit mode.
(a) Outline RecurDynHelp: [Professional > Body > Geometry in Body Edit Mode > Curve]
An outline is a piece-wise straight line composed of several segmented lines to define a surface
of the Ground. An outline is created by connecting multiple specified points (Fig. 5.126).
1) Creation method
⇒ Click the Ground icon in the Body group within the Assembly mode to change to the Body
edit mode.
⇒ Click the Outline icon in the Ribbon.
⇒ Specify multiple points in the Working window or input coordinates from the Input toolbar to
form a segmented continuous line.
⇒ To finish the operation, right click at any point in the blank space in the Working window to
view a floating menu. Then, select the Finish Operation command (Fig. 5.126).
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Point2 Point4
Point3
Point1
Fig. 5.126 Outline creation and finish operation
- Editing the created data is done from Outline’s Property dialog box.
- Importing or exporting the data is done by pressing the Import or Export buttons (Fig.
5.127).
2) Outline Properties
This window can be used for checking the
created data and for editing the data.
 Open Property Window (see sect.5.4.1
(1)-(d)).
- Number of Points: Number of input points.
- Add, Insert, Delete: Addition, insertion, and
deletion for a data row.
- Clear: Delete all input point data.

Fig. 5.127 Outline Properties
- Import, Export: Import or export text format
files (*.mat,*.txt)).
(b) Spline
A spline is a piece-wise cubic spline curve to define a surface with respect to the Ground. The
spline curve is created by interpolating multiple specified points. There are both open curves and
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closed curves.
A spline’s creation method and properties are referred to in section 5.4.1 (5)-(a) ‘Outline’.
(c) Circle
Circles can be drawn in the Working window by specifying a radius.
(d) Arc
An arc is a part of the circumference of a circle. The creation method is as follows.
 Click the Ground icon in the Body group within
Assembly mode to enter the Body edit mode. (4) degree

(3) direction
- Point, Point, Direction, Angle:  See Fig. 5.128.
Angle is specified by [deg]. (1) point (2) point
- Point, Point, Direction, Point:  See Fig. 5.129.

Fig. 5.128 Arc creation method 1
- Point, Point, Distance, Point:  See Fig. 5.130.
(4) point
(4) point
(3) direction (3) distance
(1) point (2) point

(1) point (2) point
Fig. 5.129 Arc creation method 2 Fig. 5.130 Arc creation method 3
(e) Edge curve Extract
An ‘Edge Curve’ is created by extracting from the edge
of a solid as shown in Fig. 5.131. This is used for contact
curves such as ‘Cam2D’and for various constraint pairs
including ‘Point-Curve’and ‘Curve-Curve’.

Fig. 5.131 Edge curve Extract
181
(f) Outline surface RecurDynHelp: [Professional > Body > Geometry in Body Edit Mode > Surface>
Outline surface]
A surface is stretched from multiple outlines, created in the ‘Outline’ operation described in section
5.4.1 (5)-(a). The number of data points in all specified outlines must be equal. An outline surface
example is shown in Fig. 5.132.
Outline curve
Fig. 5.132
Outline surface
Outline curve
1) Creation method
 Click the Ground icon in the Body group within the Assembly mode to enter the Body edit
mode.
 Click the Outline Surface icon in the Ribbon.
 Select consecutive multiple outlines.
 To finish the operation, right click at any point in the blank space in the Working window to
view a floating menu. Then, select Finish Operation.
2) Outline surface property
 Open the Property Window (see sect. 5.4.1 (1)-(d)).
- Patch Data: This is used for creating road surface data.
This is used in the Body edit mode of Ground.
- Modification Of Outline Surface Data: This is used to
modify point data of outline surfaces. This is only
applied to the outline surface, and not to the original
outline data.  Click ‘Modification Of Outline
Surface Data’, and the Modification dialog box for Fig. 5.133 Outline Surface properties
the surface information can be viewed (Fig. 5.133).
182
3) Modify Surface Data dialog box for surface information
Point data used to create outline surfaces can be modified by opening the Modification dialog
box. The properties for the Modification dialog box (Fig. 5.134) are described as follows:
 Click the ‘Modification Of Outline Surface
Data’ button in the Property Window for
Outline Surface.
- Number of Curves: The number of curves which is

point data of each curves
used to create the outline surface.
- Number of Points: The number of points on the
curves which are used to create the outline Fig. 5.134 Modification dialog box
surface. for surface information
A surface is created from multiple outlines which were created by the ‘Outline’ operation described
in section 5.4.1 (5)-(a). The number of data points among all the specified outlines must be equal.
The outline surface is shown in Fig. 5.132.
(g) Spline surface
A spline surface is created from multiple splines. The number of data points among all the specified
splines must be equal. A spline surface example is shown in Fig. 5.135.
Spline curve
Spline curve
Fig. 5.135 Spline surface
183
1) Creation method
Assume that two spline curves have already been created.
 Click the Ground icon in the Body group of the Assembly mode to enter the Body edit mode.
 Click the Spline Surface icon in the Ribbon.
 Select two spline curves.
 To finish the operation, right click at any point in the blank space in the Working window to
view a floating menu. Then select the Finish Operation command.
2) Property
The spline surface property dialog box is identical to that of Outline surface described in
section 5.4.1 (5)-(f).
3) Modification dialog for surface information
Point data used to create spline surfaces are modified in the same way as Outline surfaces
described in section 5.4.1 (5)-(f).
(h) Face Surface RecurDynHelp: [Professional > Body > Geometry in Body Editing Mode > Surface]
‘Face Surfaces’ are created by extracting a surface from a solid as shown in Fig. 5.136. This surface
is used as a contact surface. If multiple surfaces are specified, these segmented surfaces can be united
as one continuous surface so that the contact condition can be defined as a whole.
Fig. 5.136 Face surface extraction
184
1) Creation method
 Create Box geometry in the Body Editing Mode.
 Click the Face Surface icon in the Ribbon. There are four creation options.
- Face:  Select one surface of a body.
- Solid, Face:  Select a solid containing the surface to be extracted, then select the desired
surface.
- MultiFace:  Select multiple surfaces. Selected multiple surfaces become united when
extracted.
After finishing surface selection, click the ‘OK’ button in the ‘FaceSurf Operation’ dialog
to finish the operation. FaceSurf Operation dialog is explained in 2) below.
- Solid, MultiFace:  Select solids containing the surfaces to be extracted, then select the
desired surfaces. Selected multiple surfaces are united as one continuous surface. After
finishing surface selection, click the ‘OK’ button in the FaceSurf Operation dialog to finish
the operation.
2) FaceSurf Operation dialog box (Fig. 5.137)
- Entity Name: The name of the entity from which
the face is being extracted.
- Face List: The list of selected faces of an entity.
- Delete, Delete all Faces: Delete faces. Selected face

- Add all faces: Add faces.
- Preview: Highlight viewing for selected faces

Fig. 5.137 FaceSurf operation dialog
185
3) Property
 Open Property Dialog (Fig. 5.138).
- Patch Data: Used for creating road surface data in the
Body edit mode.
- Add, Delete: Used for adding or deleting faces
- Add all, Delete all: Used for adding or deleting all faces.
- Fa button: Click the Fa button to select faces.
Fig. 5.138 Open Property dialog
4) Method for adding and deleting extracted surfaces
 Right click the created FaceSurface in the
Database window then open the Property
window (Fig. 5.139).

Extracted surface
 Click the Add or Delete button to add or delete
faces.
 Click the OK button to complete the operation. Fig. 5.139 Property selection
of created extracted faces
(i) Arc Revolution
Create an arc revolution geometry body. This geometry body is used for the ‘Sphere To Arc
Revolution’ contact element.
(j) Arc Extrusion
Create an arc extrusion geometry body. This geometry body is used for the ‘Sphere To Arc
Extrusion’ contact element.
186
5.4.2 Joints and constraint equations
(1) Joints
(a) About joints
When looking closely at an assembled machine, it is seen that every component is mutually
connected to form the machine which generates one organized motion. Fig. 5.140 shows an automotive
reciprocating engine which is known generally as a reciprocating machine. This type of machine is
called a slider-crank mechanism and is composed of a piston which undertakes reciprocating motion,
a crank-rotational motion, and a connecting rod-combined motion. In reciprocating machines, reaction
forces (i.e. inertia and centrifugal forces), and reaction moments (i.e. reaction torques), accelerated
and decelerated motions of the piston and centripetal motion of the crank cause vibrations. To reduce
these vibrations, balance weights are installed. Fig. 5.140 shows that the piston moves up and down
in a vertical cylinder while the crank arm rotates about a crank shaft. The crank shaft is supported by
bearings (which are not shown in the figure) and is only permitted to rotate about its axis. Fig. 5.141
shows the schematic model of the slider-crank mechanism by extracting a single engine section from
Fig. 5.140.
Intake valve Exhaust valve

Cam shaft
Cylinder Crank pin

Crank shaft Connecting rod Piston pin
Piston
Connecting rod
Cylinder
Clank arm
Balance weight Flywheel Fig. 5.141 Schematic model
Clank shaft of a piston-crank mechanism(2)
Fig. 5.140 Piston-crank mechanism

of an automotive engine(2)
187
To gain further knowledge on joints, consider the two dimensional planar double pendulumn
shown in Fig. 5.142.
Fig. 5.142 Planar double pendulum Fig. 5.143 Planar double pendulum
model in Cartesian coordinates model in relative coordinates
In the double pendulum shown in Fig. 5.142, link ① and link ② are placed in identical positions
at point P. However, the two links can rotate freely at point P. This is because of a mechanical part
called a revolute joint. This double pendulum moves only in the x-y plane. This constraint is attained
if the axes of rotation of the revolute joints at A and P are perpendicular to the x-y plane. Now, consider
the constraint equations for the double pendulum model shown in Fig. 5.142. The constraint equations
in Cartesian coordinates shown in Fig. 5.142 are
r1 s1P r2 s 2P (5.1)
whereas, the constraint equation in relative coordinates shown in Fig. 5.143 is
2 1 12 . (5.2)
The constraint equations for the revolute joint in planar motion were given only by position
variables. For other types of constraints, constraint equations are also given by position variables. Thus,
a joint generally plays the role of connecting a body to another body. For the piston-crank mechanism
shown in Fig. 5.141, translational motion between the piston and the cylinder, and rotational motion
between the crank and the connecting rod are permitted. There are various types of joints depending
on the types of connection modes (see Fig. 4.4 in Part 2).
188
(b) Types of joints
Within RecurDyn, joints are treated as fundamental
entities, similar to bodies, when creating analysis models.
The constraint entity constrains relative motion between the
two connected bodies. The bodies include not only rigid
bodies but also flexible bodies and particles. There are
several types of joints as shown in Fig. 5.144(a), (b):
Fig. 5.144(a)
Joint group-1
within the Professional tab
- General constraints: Fixed, Revolute, Translational,
Planar, Cylindrical, Spherical, Universal, Screw,
Constant Velocity.
- Primitive constraints: At Point, Inline, Inplane,
Orientation, Parallel, Perpendicular, Distance,
Cartesian Motion (Cmotion).
- Special constraints: Point-Curve (PTCV), Curve-Curve
(CVCV), Coupler, Gear.
- Motion constraint: Driving motion description. This is

Fig. 5.144 (b)
specified for each joint, if needed. Joint group-2
within the Professional tab
(c) Reduction of degrees of freedom by setting joints
If a constraint is introduced between two bodies, the number of variables in the two bodies will
decrease. The reduction number is dependent on the type of constraint. This was already explained in
Table 4.2 of section 4.3. (2) in Part 2. For example, consider two rigid bodies without any constraints.
The system composed of two bodies can move freely without any restrictions, so the system has
189
2×6=12 DOF (degrees of freedom). If a fixed joint is introduced between the two bodies, three
translational motions and three rotational motions are then constrained between them, and the
degrees of freedom for this system becomes 12-6=6 DOF. Thus, two bodies are merged into one rigid
body. Table 5.4 lists types of variables, numbers of constraint equations, and DOF for various types of
joints which are provided within RecurDyn.
Fig. 5.4 Number of constraints and DOFs for general joints
Joint Type Type of No. of DOF DOF Axis

variable Const.
Revolute Tra. 3 0
Rot. 2 1 z
Translational Tra. 2 1 z
Rot. 3 0
Spherical Tra. 3 0
Rot. 0 3 x, y, z
Cylindrical Tra. 2 1
Rot. 2 1
Universal Tra. 3 0
Rot. 1 2 x, z
Constant Tra. 0 3
Velocity Rot. 1 2
Planar Tra. 1 2 x, y
Rot. 2 1 z
Screw Tra. 3 0
Rot. 2 1 z
Fixed Tra. 3 0
Rot. 3 0
(d) Joint creation
Joints will be created for connecting a crank called ‘Body 6’ and a coupler called ‘Body 5’ in Fig.
2.1 shown in chapter 2. Since there are various types of joints, detailed explanations for all joints are
not possible due to page limitation. Therefore, a revolute joint will be taken as an example for
explaining general creation procedures.
Consider a revolute joint, which rotates about the Z-axis, that connects two link bodies at the
common position (0, 0, 0) (see section 6.1.2). The two bodies are connected as shown in Fig. 5.146.
190
Click the Professional tab in the Ribbon.
 Click the Revolute joint icon in the Joint
group.
 Select ‘Body, Body, Point, Direction’ from Fig. 5.145 Revolute joint icon in Joint group
the pull down menu of the Modeling option
toolbar (Fig. 5.145).
 Click ‘Body6’ (Fig. 5.146).
 Click ‘Body5’ (Fig. 5.147).

Body 6
 Click ‘0, 0, 0’ (Fig. 5.148). Or key in ‘0,0, Body 5
0’ into the Input toolbar.

Fig. 5.146 Click Body6 Fig. 5.147 Click
 After the cylinder shape icon appears at (0,
Body5
0, 0) in the Working window, adjust the icon
direction points perpendicular to out of the
window plane. Then click as shown in Fig.
5.149.
The above revolute joint was considered for

Fig. 5.148 Fig. 5.149 Completed
learning the general creation procedures. For other
Click revolute joint revolute joint creation
types of joints, the procedures are similar.
(2) Joint property
The revolute joint to learn about joint will again be used as an example. For other joints, similar
procedures hold. Fig. 5.150 shows the Revolute joint Property dialog box within the Joint tab.
There are three ways to open the Property dialog for a revolute joint as shown below.
191
- Double click the name of the revolute joint in the
Database window.
- Right click the name of the revolute joint in the
Database window to open the menu.
 Click on ‘Property’ listed in the menu.
- Right click the revolute joint in the Working
window to open the menu, Fig. 5.150 Revolute joint Properties

within the Joint tab
 Click on ‘Property’.
(a) Setting joint properties
1) Joint tab
- Type: Joint type is displayed.
- Include Motion: Driving motion is specified by mathematical Expressions (see sect. 5.6 (1)).
- Initial Conditions: Specify the initial position and velocity.
- Friction: Specify friction characteristics (see sect. 5.4.2 (2)-(c)).
- Force Display: Display calculated forces. Toggle the display on and off.
2) Connector tab (Fig. 5.151)
Connector properties are described. The base and
action markers and the bodies to which the markers
belong to are specified.
The first marker becomes the base marker and the
second marker becomes the action marker.
- Name: Marker name.
- Body: The Body to which the marker belongs.
- Orientation: The two methods for specifying a Fig. 5.151

Connector properties for RevJoint1
markers’ attitude: ‘Angles’ and ‘Coordinates’.
- Origin: Origin of the marker.

192
- Ref. Frame:
 Define the reference frame. The origin and orientation of the markers are defined with
respect to this reference frame.
- Euler: Method for defining markers:
 Select either 313 Euler angle or 321 Euler angle.
- Copy Action to Base:
 Copy the position and orientation of the ‘Action’ marker to those of the ‘Base’ marker.
上記は下記のようにすべきではないか。
- Copy Base to Action:
 Copy the position and orientation of the ‘Base’ marker to those of the ‘Action’ marker.
(b) Procedure for setting Motion
 Open the Property dialog box for the Joint (Fig.
5.152).
 Check ‘Include Motion’.
 Click the ‘Motion’ button.
 The Motion dialog will be displayed (Fig. 5.153).
Fig. 5.152 Joint Property dialog box

 Select ‘Standard Motion’ from the ‘Type’ pull
down menu. If ‘User Subroutine Motion’ is selected,
a motion can be specified from user subroutines.
- From the pull down menu: Any of the following
quantities can be specified: displacement, velocity,
and acceleration.
 Click the ‘EL’ button to specify the expression
which is used for mathematical expressions.
 Click the ‘OK’ button.
Fig. 5.153 Motion dialog box
193
(c) Force Display
Force vectors are displayed in the View window as shown in Fig. 5.154.
fa zb
ya τ a
dba
yb
sa xa xb
za z a τb
fb
xa constraint markers
sb
ya
action body
zb
base body xb
ra
yb
rb
Fig. 5.154 Definition of force vectors in the constraints
(3) General joint constraints
(a) Fixed joint
A fixed joint is a joint which completely fixes two rigid bodies. The degrees of freedom for the
relative rotation and the relative translation between the two bodies are both zero. Thus the two bodies
undergo motion as a single rigid body. A fixed joint can be set at any position with any orientation on
the bodies (Fig. 5.155).
Fig. 5.155 Fixed joint
1) Creation method
 Click the Fixed icon within the Joint group in the Ribbon. There are three methods.
The following items shall be input to the Modeling Option Toolbar.
194
- Point:
 Click the point on the body at which the joint is to be set by checking the body name using
the navigator.
- Body, Body, Point:
 Select ‘Base body’, ‘Action body’, and click the point at which the joint is to be set.
- Body, Multi-body:
 Select ‘Base body’, then ‘Multiple Action bodies’.
The setting position of the fixed joint is the center marker of the mass of the ‘Action body’.
2) Property
Set the Joint tab properties for fixed joint
(Fig. 5.156).
- Type: Display joint type.
- Force Display: Toggle the Force display on and
off.
Fig. 5.156 Joint tab showing Type of joint
(b) Revolute joint (Fig. 5.157)
A revolute joint is a joint which connects two rigid bodies without rotational resistance. There
is one degree of freedom for the relative rotation between the two bodies and the relative translation
is zero.
X
Fig. 5.157 Revolute joint
195
1) Creation method
 Click the Revolute icon within the Joint group in the Ribbon. There are four methods.
The following information shall be input into the Modeling Option Toolbar.
- Point:
 Click a point on the body at which the
joint is to be set. The Revolute joint is
set at the nearest body contact point.
The rotation axis is set perpendicular to
the Working
Workingwindow
window (Fig. 5.157,
5.159).
(Fig. 5.158, 5.159). Fig. 5.158 Click the point
- Poin, Directiont:
 Click a point on the body at which Y
the joint is to be set. The revolute joint
icon will appear at the specified point.

X
Then, click the joint icon and move the
The rotational axis is Z if the Working
pointer to specify the direction of the window is parallel to the X－Y plane.
rotational axis (Fig. 5.160,
5.159, 5.161).
Fig. 5.159 Automatic setting
of the rotational axis
Fig. 5.160 The revolute joint icon will appear Fig. 5.161 Align the rotational axis to the Z-axis
196
- Body, Body, Point:
 Select a body on which the joint is to be set. This body becomes the base body.
 Select another body on which the joint is to be set. This body becomes the action body.
 Click a point at which the joint is to be set.
Then, the joint is created about an axis perpendicular to the Working window.
- Body, Body, Point, Direction:
 Click the point and specify the direction of the rotational axis.
Refer to ‘Point, Direction’ creation method of this section.
2) Property
Set the properties for a revolute joint under the Joint tab (Fig. 5.162).
- Include Motion: Driving motion is specified.
The
The setting
setting procedure
procedure isis referred
referred to
to in section
6.1(5).
6.1(5).
- Initial Conditions: Specify the initial position and
velocity.
velocity.
- Friction: Specify friction characteristics.

Fig. 5.162 Joint tab properties
The
Thesetting
setting
procedure
procedure
is referred
is referred
to in sect.
to in
5.2.2(3)
sect.
for revolute joints
of5.2.2(3)
the OnlineHelp
of the OnlineHelp
manual. manual.
-- Force
Force Display:
Display: Display
Display calculated
calculated forces. Toggle
the
thedisplay
displayononand
andoff.
off.
197
(c) Translational joint (Fig. 5.163)
A translational joint is a joint which
connects two rigid bodies with free

Z
translational motion in a specified direction.
Y
There are zero degrees of freedom for the
relative rotation between the two bodies X Fig. 5.163

while the relative translation is one. An Translational joint
arbitrary location is permitted to set a marker
on the bodies.
1) Creation method
 Click the Translate icon within the Joint group in
the Ribbon. There are two methods.

Fig. 5.164
- Point, Direction: Translational joint icon appears
 Click a point on the body at which the joint is to be
set. The translational joint is set between the closest
bodies.
 The translational joint icon will appear at the
clicked point.
 Click the joint icon and move the pointer to specify Fig. 5.165
translational direction (Fig. 5.164, 5.165). Specify translation direction
 Click the joint icon and specify translational direction by moving the pointer.
Refer to the ‘Point, Direction’ creation method of this section.
198
2) Property
Set the properties of translational joint under the Joint tab (Fig. 5.166).
- Include Motion: Driving motion is specified. The
setting procedure is referred to in ⑦ in sect. 6.1
(2) *.
- Initial Conditions: Specify initial conditions.
When initial conditions are required to be set,
check the box for ‘Include Initial Conditions’. Fig. 5.166 Joint Property of TranJoint1
- Friction: Specify friction coefficients for a joint,
if necessary. The setting procedure is referred to
in sect. 5.2.2 (3) of the OnlineHelp manual(1).
- Force Display: Display calculated forces. Toggle
the display on and off.
*It should be noted that the units of translation are
different from that of rotation. Examples are shown in

Fig. 5.167 Sinusoidal motion
Fig. 5.167 and Fig. 5.168. (example 1)
In Fig. 5.167, the input displacement has an amplitude
of 100[mm] and a frequency of 1 [Hz].
In Fig. 5.168, displacement motion is defined as an
increase from 0 to 100 [mm] from 0 – 1 sec, a constant
100 [mm] between 1 – 2 sec, and a decrease from 100 to
0 [mm] from 2 – 5 sec. This is a trapezoidal function. See Fig. 5.168

Motion of the trapezoidal function
section 5.6 for creating an Expression for the Step
(example 2)
function.
199
(d) Planar joint
A planar joint is a joint which keeps the motion of the body in a defined flat plane. The body is
allowed to slide relative to the plane and rotate about an axis perpendicular to the plane (Fig. 5.169).
The moving body becomes the action body and the flat plane becomes the base body.
Action marker
Base marker
Fig. 5.169 Planar joint
(e) Cylindrical joint

A cylindrical joint is a joint which allows rotation and translation with respect to the direction of
the rotational axis. The Z-axis of an action marker and a base marker are taken in parallel and in the
same direction (Fig. 5.170).
Base Marker
Action Marker
Fig. 5.170 Cylindrical joint Fig. 5.171 Spherical joint
(f) Spherical joint
A spherical joint is a joint which allows only three relative rotational motions between the two
bodies. Marker origins of the two bodies are assumed to coincide. Three relative rotational motions
about three axes passing through the origin are allowed, but three relative translational motions are
not allowed (Fig. 5.171). There are three degrees of freedom for the relative rotation between the two
200
bodies and zero degrees of freedom for relative translation.
(g) Universal joint
The universal joint shown in Fig. 5.172 is a joint which allows two relative rotations about two
perpendicular axes which are connected to the two bodies. Two relative rotational motions are allowed
about the Z-axis of the action marker and about the Z-axis of the base marker. The origins of the two
markers coincide. There are two degrees of freedom for the relative rotation between the two bodies
and zero degrees of relative translation.
Action marker Rotational axis1
Rotational axis2
Base marker
Fig. 5.172 Universal joint
(4) Primitive joint constraints
(a) CMotion RecurDynHelp: [Professional > Joint > Constraint]
The CMotion is a Cartesian driving constraint for a selected translational or rotational variable of
the reference frame. Any one of the x, y, or z positions or the x-axis, y-axis, or z-axis rotations of the
action marker relative to the base marker in the inertia reference frame is driven by a specified function.
The definition of a function is described by an ‘Expression’. Six independent forced motions can also
be applied.
1) Creation method
⇒ Click the CMotion icon within the Joint group in the Ribbon. There are two methods.
- Point, Point:
 Click a point where the base marker is to be located by checking its name using the navigator.
 Click a point where the action marker is to be located by checking its name using the navigator.
201
- Body, Body, Point, Point:
 Select a base body.
 Select an action body.
 Click a point at which the base marker is to be created.
 Click a point at which the action marker is to be created.
2) Property RecurDynHelp: [Professional > Joint > Constraint > Cartesian Motion (Cmotion)]
Set the properties for the CMotion joint under the Joint tab (Fig. 5.173).
- Cartesian Motion Type:  Select any one of the
following: Displacement, Velocity, Acceleration.
Additionally, select any one of the following to
reference the direction: X, Y, Z, RX, RY, RZ*.
- Position Component between Two Markers: This is the
distance of the action marker relative to the base

Fig. 5.173 Joint tab properties
marker in the required direction. for the CMotion joint
- Reference Marker:  Specify the reference marker
used when the motion is defined.
- Expression:  Click the ‘EL’ button and write the ‘Expression’ in the ‘Expression List’ field
(see section 5.6 (1)) **.
- Force Display:  Display calculated forces. Toggle the display on and off.
* If RY is selected, the range of motion is limited to within ±90°. If the range of motion goes beyond
360°, RX or RZ must be used. In this case, the reference frame must be redefined.
** When ‘Expression’is defined, the initial value of the Expression must be equal to the value
given by the ‘Position Component between Two Markers’.
(ex.) If the Expression is 380+10*time, then the Position Component between Two Markers should
be 380.
202
(5) Special joint constraints
Special joints given below are provided within RecurDyn.
(a) PTCV (Point-Curve) RecurDynHelp: [Professional > Joint > Special]
PTCV is a joint which constrains a specified point on a body to pass a given spline curve. The
spline curve needs to be defined prior to creating the PTCV. This joint has five degrees of freedom.
(b) CVCV (Curve-Curve)
CVCV is a joint which continuously contacts two smooth curves. This joint has three degrees of
freedom for rotational motion at a contact point.
(c) Coupler
A coupler is a third joint which relates the motion of one joint to that of another i.e. it relates
relative coordinates between the two joints. This function can apply to the revolute, translational, and
cylindrical joints. The coupler is conveniently used to transfer motion and energy between belts and
pulleys, or between chains and sprockets.
(d) Gear
A gear is a joint which relates the motion of one revolute joint to that of another revolute joint so
that gear motion can be simulated.
5.4.3 Force
The force element called ‘Force’ within RecurDyn is explained here.
(1) Equivalent system for forces and torques
Force is a physical quantity which is characterized by; the point where the force is acted upon, the
force’s direction, its sense and magnitude. The direction of the force is parallel to the application
direction of the force. The force exerted inside the body is called internal force, and the force applied
from outside of the body is called external force.
Constraint forces located at joints are called reaction forces which are fundamentally categorized
203
as internal forces. External forces are further split into passive and active forces. Passive forces are the
forces exerted in springs and dampers that do not have power sources, whereas active forces are the
forces exerted in actuators that do have power sources.
Multiple forces acting on a rigid body at different points will be converted to an equivalent couple
and a torque produced by the couple. This problem was already considered in section 4.7 of Part 2. A
brief summary is given here for the readers’ convenience. Forces f1 , f2 , and f m acting on a
body are shown in Fig. 5.174(a). As an equivalent force system, the force f acting on the body at its
center of mass C , and the torque produced by the couple n as shown in Fig. 5.174(b) will be
obtained. In this case, force f and torque n produced by the couple are calculated by
m m m
f fi and n ni ρi fi ,
i 1 i 1 i 1
respectively. The torque n is a free vector which is independent of the application’s location.
Because of these characteristics, multiple forces acting on a body at different points can be
converted to an equivalent force acting upon the center of mass and a torque produced by the couple.
(b) Equivalent force system obtained

(a) Original force system with multiple forces
from multiple forces
Fig. 5.174
Equivalent force system composed of a single force acting at the center of mass and a
coupled torque converted from multiple forces acting on a body
204
Fig. 5.175 shows force elements such as springs, dampers, and actuators which are connected in
paralell at points Bi and B j . The spring constant, damping coefficient, and actuator force are
represented by k , c and fa respectively. The natural length of the spring is l0 . The reference
frames Body i and Body j are the body attached reference frames which are fixed to the mass centers
of body i and body j , respectively.
Fig. 5.175 A spring-damper-actuator system
The force along the spring, damper, and actuator line is written as
f k (l l0 ) cl fa (5.1)
A point-point vector l directed from points Bi to B j is written in terms of frame O ’s coordinates
as
l rj A js j ri A i si (5.2)
The current length of the spring is defined as l l T l and the time rate is l (l T / l ) l lˆT l ,
where lˆ indicates the unit vector directed from points Bi to B j .
The virtual work done is given by
We f l QiT qi Q jT q j (5.3)
From this equation, the generalized forces Qi [QTir QTi ]T and Q j [QTjr QTj ]T of the spring,
damper, and actuator at points i and j with respect to its center of mass are written as
Qir f l늿
, Qi f si AT l , Qj r Q i, r Qj Qi (5.4)
Where subscripts r and indicate the translational and rotational generalized forces, and
205
indicates the quantity with respect to the body attached reference frame. Refer to in section 4.7 of
Part 2 for further study.
The ‘Force element’ used within RecurDyn shall now be explained. The Force is another type of
the fundamental entities used to create analysis models within RecurDyn. The Force is the entity that
generates forces and torques at specified points on multiple bodies. Unlike the constraint, the Force
does not bring any changes to the degrees of freedom.
The Force in RecurDyn provides translational forces and
rotational torques at specified points between different
bodies. Markers are automatically created at specified points.
Markers that belong to a base body are called base markers
while markers that belong to an action body are called action
marker. An external force is applied to the action marker and
a reaction force is exerted at the base marker.
The various types of ‘Forces’ are listed below (Fig. 5.176).
- In-line forces: Spring, Axial force, Translational force.
- Rotational torques: Rotational spring, Rotational Axial,
Rotational force. Fig. 5.176 Types of ‘Forces’

within RecurDyn
- Combined forces: Screw, Bushing
- Other forces: Matrix, Beam, Plate, Tire
(3) In-line Force
(a) Springs RecurDynHelp: [Professional > Force > Single Component]
Using the ‘Spring’ function will generate spring forces and damping forces between two
markers, frames X aYa Z a and X bYb Zb . Fig. 5.175 shows a spring-damper-actuator element. The
forces Fa and Fb produced at markers a and b are defined as
Fa k lm cl n F, Fb Fa (5.5)
206
l l l0
Where the variables are defined as follows:
m, n : Stiffness exponent, damping exponent
k : Spring coefficient
c : Damping coefficient
F : Pre-load
l : Spring length
l0 : Free spring length
l is the velocity between two markers, and the dot・indicates the time differential. When the two
markers are apart, the direction of force is positive.
1) Creation method RecurDynHelp: [Professional > Force > Single Component > Spring]
⇒ Click the Spring icon within the Force group in the Ribbon. There are two methods. The
following information shall be input into the Modeling Option Toolbar.
- Body, Body, Point, Point:
 Select the base body (Fig. 5.177(a)).

(a)
 Select the action body (Fig. 5.177(b)).
 Click a point at which a base marker is attached
(Fig. 5.177(c)). (b)
 Click a point at which an action marker is
attached (Fig. 5.177(d)). (c)

Then, all setting will have been completed (Fig.
5.177(e)). The next step is to open the Property

(d)
dialog and define the spring characteristics.
- Point, Point:
 Click a point at which a base marker is attached, by

(e)
checking the body name with the navigator.
Fig. 5.177
Steps for creating a spring model
207
 Click a point at which an action marker is attached,
by checking the body name with the navigator.
2) Property
Set the properties for the ‘Spring’ force (Fig. 5.178). There are two input methods.
- Coefficient input: Constant values and/or parameter
values are input.
- Spring Coefficient: spring constant [Force/Length] *1
- Damping Coefficient: viscous damping coefficient
[Force*time/Length] *1
- Stiffness Exponent: Exponent for the spring
- Damping Exponent: Exponent for the damping Fig. 5.178 ‘Spring’ force properties
- Spline input: Using the spline curve, create spring and
damping forces corresponding to length and velocity.
This is used for defining nonlinear spring forces.
- Free Length: Free length of the translational spring [Length] *2
- Pre Load: Pre-loads applied to the translational spring [Force] *2
- Distance between Two Markers: Initial actual length of the translational spring is viewed.
The value cannot be changed in this field.
*1 Spring Coefficient and Damping Coefficient can be given using Expressions in the PV box,
but in this case the values are always equal to the initial values.
*2 Refer to in item 3) of this section for free length and pre-loads.
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Next, set the Graphic property in ‘Spring’ force (Fig. 5.179).
- Spring Diameter: Diameter of the spring. This is
‘a’ in Fig. 5.180.
- Number of Coils: Number of coils
- Distance between Base Marker and Damper:
This is ‘b’ in Fig. 5.180.
- Distance between Action Marker and Damper:
This is ‘c’ in Fig. 5.180.

Fig. 5.179 ‘Spring’ force prpperties
- Length of Damper: This is ‘d’ in Fig. 5.180.
- Coil Diameter: This is ‘e’ in Fig. 5.180.
b d c
e : the diameter of cross section
Fig. 5.180 Shape definition of the translational Spring
3) Free Length and Pre Load
RecurDyn defines ‘Free Length’ as the distance between two markers which are fixed at
connecting points of the springs in the initial state. The values can be changed if necessary in the
Property dialog box. ‘Pre-load’ is the pre-load at the initial state. The equilibrium position is affected
by both the free length and the pre-load.
Fig. 5.181 and Fig. 5.182 show the relationship between the distance of two markers and the force.
Fig. 5.181 shows the effect of the pre-load on the relationship between the distance of two markers
and the force. There are three lines in the figure. The middle line shows the relation without any pre-
209
load. If the pre-load is positive, the line shifts upward from the middle line. If it’s negative, it shifts
downward.
Fig. 5.181 Equilibrium state and force Fig. 5.182 Increase and decrease of free length
Fig. 5.182 shows the effect of free length on the relationship between the distance of two markers
and the force. There are three lines in the figure. The middle line shows the relation without any change
in free length. If the free length is increased, the line shifts upward from the middle line. If it’s negative,
it shifts downward.
In the translational spring, there exists a relationship between the set length defined by the distance
between the two markers and pre-load. Either value is enough to specify this relationship. When the
set length is known, the value of free length is given. If the set load is known, the value of pre-load is
given.
The above explanation only holds for the linear spring case. For the nonlinear spring case, the
relationship between the force and the distance between the two markers is given by a spline curve.
4) ‘Spring Spline’ and ‘Damping Spline’
When spring forces and damping forces show nonlinear characteristics, such relationships are
described by spline curves as shown in Fig. 5.183(a) and (b). In the case of the ‘Spring Spline’, the x-
axis indicates displacement and the y-axis indicates force as shown in Fig. 5.183(a). Whereas, in the
case of the ‘Damping Spline’, the x-axis indicates velocity and the y-axis indicates force as shown in
Fig. 5.183(b).
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(a) Spring spline (b) Damping spline
Fig. 5.183 Nonlinear force setting using spline curves
(b) Axial Force RecurDynHelp: [Professional > Force > Single Component]
An in-line force along the line connecting two specified markers is created. The force is defined
using an ‘Expression’. If the force is positive, a push force is applied. If the force is negative, a pull
force is applied. The ‘Axial Force’ is used for defining the forces generated from actuators in control
systems and/or hydraulic systems.
The creation method is the same as those explained in the
translational spring described in part (a) of this section. Fig.
5.184 shows a view of the Axial force setting. Fig. 5.184 Axial Force setting
(c) Translational Force RecurDynHelp: [Professional > Force > Force > Multi Components]
‘Translational Force’ generates three orthogonal translational forces which are created between
the two specified markers. This force is used when the direction of the force is different from the
direction along the line connecting the base marker and the action marker. Force is defined using
‘Expression’ or user-created subroutines. The direction of the force is defined based on the reference
marker.
211
Fig. 5.185 shows a view of the Three translational force setting.
Fig. 5.185
Three translational force setting
(4) Rotational Torque
(a) Rotational Spring
A ‘Rotational Spring’ generates linear and nonlinear rotational spring forces and damping forces
(torques) depending on the rotation angle and/or rotational speed. There are two creation methods.
One is the method to define torques for revolute joints or cylindrical joints. The other is to define
torques between two specified markers. Output torque is calculated using the following equations.
m n
Ta kt ct T, Tb Ta (5.6)
where, positive direction of is followed by the right hand rule. If the z-axis (i.e. the rotational
axis) advances in the positive direction when a right-hand-screw attached to its axis is positively
rotated, it is said that this follows the right hand rule.
The other variables are defined as follows:
m, n : Stiffness exponent, damping exponent
k t : Rotational spring coefficient
ct : Rotational damping coefficient
T : Pre-torque
: Rotational angle
0 : Free angle of rotational spring
1) Creation method
⇒ Click the Rot.Spring icon within the Force group in the Ribbon. There are three creation
methods. The following information shall be input into the Modeling Option Toolbar.
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- Joint:
 Select the joint which requires a Rotational spring.
This is only valid for revolute joints and cylinder joints.
- Body, Direction:
 Select the Body name using the navigator. Click the point on the body where the spring is
required. Set the rotational direction.
 Change the direction of the Rotational spring in the Working window by touching the arrow
of the marker or the body surface view with the mouse. Click to set when the rotation is in
the desired direction.
 Click the point where the Rotational spring is required.
 Set the direction of the Rotational spring.
2) Property
The properties of rotational springs are similar to those of linear springs. Next, open the Property
dialog box and define the rotational spring characteristics. The procedure for ‘Spring’ is covered in
section 5.4.3 (3)-(a).
(b) Rotational Axial Force
‘Rotational Axial’ generates torques at specified revolute or cylinder joints. This also generates
torques between two specified markers. A torque is defined by the function ‘Expression’ or by user-
created subroutines. ‘Rotational Axial’ is used for creating torques as an input to control systems
and/or hydraulic systems. A positive direction of rotation is followed by the right hand rule described
in part (a) of this section.
(c) Rotational Force
213
‘Rotational’ generates three orthogonal and directional torques between the two specified markers.
The torques are defined by the function ‘Expression’ or by user-created subroutines. The direction of
the applied torque is specified by the reference marker. A positive direction of rotation is followed by
the right hand rule described in part (a) of this section.
(5) Combined force
(a) Screw
‘Screw’ generates three orthogonal directional forces and torques between the two specified
markers in which the forces and torques are defined with respect to a reference marker. A positive
direction of rotation is followed by the right hand rule described in part (a) of this section. This ‘Screw’
is an entity which creates simultaneous ‘Translational’ forces described in section 5.4.3 (3)-(c) and
‘Rotational’ torques described in section 5.4.3 (4)-(c).
(b) Bushing
‘Bushing’ generates six directional forces (i.e. three orthogonal directional forces and torques)
between two points located initially at the same position which are attached to two different bodies.
Translational spring forces and rotational spring torques are calculated by using stiffness and damping
parameters in the same way that such parameters are used in ‘Translational Spring’ and ‘Rotational
Spring’. Nonlinear characteristics can also be given by using spline functions. Bushing forces exerted
on the action marker are calculated by the following equations.
 Fax   K11 0 0 0 0 0   x k1  C11 0 0 0 0 0   Vxm1   F1 

F   0    
 ay   K 22 0 0 0 0   y k 2   0 C22 0 0 0 0  Vym 2   F2 
 Faz   0 0 K 33 0 0 0   zk3   0 0 C33 0 0 0  Vzm 3   F3 
        n1    
 Tax   0 0 0 K 44 0 0   abl11   0 0 0 C44 0 0   ab 1  T1 
 Tay   0 0 0 0 K 55 0   abl 22   0 0 0 0 C55 
0  ab 2n 2  T 
       3   2
 Taz   0 0 0 0 0 K 66   abl 33   0 0 0 0 0 C66  ab 3   T3 
In these equations, x, y, z and ab1 , ab 2 , ab 3 are translational displacements and rotational angles of
the action marker with respect to the base marker. Vx ,V y ,Vz ab1 , ab 2 , ab 3 are components of
translational velocity and angular velocity of the action marker with respect to the base marker.
214
F1 , F2 , F3 and T1 , T2 , T3 are constant pre-loads and pre-torques acting on the action marker.
ki , li , mi , ni (i 1,2,3) are the exponents.
Bushing reaction forces exerted on the base marker are calculated by

Fb Fa
Tb Ta L Fa .
In addition to the above, radial types of bushing forces can also be defined.
1) Creation method RecurDynHelp: [Professional > Force > Full Components > Bushing]
⇒ Click the Bushing icon within the Force group in the Ribbon. There are two creation methods.
- Body, Body, Point
 Click a point where the ‘Bushing’ is required.
 Setting is complete.
- Point
 After selecting the body name with the navigator, click the point where the bushing is to
be attached.
Next, open the Property dialog box and define the bushing’s characteristics.
2) Property
Set the Bushing properties for the ‘Bushing’ force
(Fig. 5.186). There are two types of input methods.
 Open the Property dialog box of the Bushing Force

(reference section (2) in 5.4.2).
- Translation:
 Set translational spring characteristics in the same way

Fig. 5.186 Bushing tab of
as the procedure described in section 5.4.3 (3) - (a).
215 Bushing Property dialog box
- Rotation:
 Set rotational spring characteristics in the same way as the procedure described in section
5.4.3 (4)-(a).
- Radial Type: Bushings with radial type characteristics for the X and Y directions of the base
marker. For the Z direction, normal bushing characteristics are defined.
- Static Bushing: Valid only for the static analysis and not valid for dynamic analysis.
(6) Others
‘Matrix’, ‘Beam’, ‘Plate’, and ‘Tire’ functions are also provided.
(7) Force Display RecurDynHelp: [Plot > Plot Database]
‘Force Display’ is a function that displays forces and torques exerted during animation playback
within the Working window. In addition to force elements, this command can also be used for
contact and joint elements. Displaying force vectors can be handled from either the Property dialog or
the Ribbon for which the display is required (Clicking the Force Display icon within the Post Tool
group in the Analysis tab).
Plotter output items for force elements after calculation are as follows.
- FM_, TM_: Forces and torques
- FX_, FY_, FZ_, TX_, TY_, TZ_: Forces and torques of the action marker subjected to the base
marker in X, Y, Z coordinates.
- DEFL_TSDA, DEFRZ_RSDA: The difference between a two-marker distance (i.e. the distance
between the base marker and the action marker), and a free length in translational springs. The
difference between a two-marker angle (i.e. an angle between the base marker and the action
marker), and a free angle in rotational springs.
216
5.4.4 Contact
If two bodies are approaching each other, they will eventually come into contact or collide and
will exert forces between them. This kind of phenomenon is generally complicated. Typical examples
of contact and collision in mechanical systems lie in cams, ball bearings, gears, joint-gaps, and other
such components. There are two important subjects if these contact-collision problems are calculated
by computers. One is an appropriate detection of the correct position of a contact point and the other
is a precise calculation of the contact force exerted at the contact point. Detection of the contact point
relies on the theory of geometry while the calculation of a contact force relies on the theory of
mechanics. It is essential to have powerful detection algorithms for detecting contact points and
effective contact models for calculating contact forces.
RecurDyn pays close attention when calculating contact forces and friction forces depending on
various contact and collision situations. RecurDyn’s functions for contact will be given hereafter.
Within RecurDyn, if contact elements are defined between two bodies that eventually come into
contact, contact forces are calculated depending on the amount of penetration when the surfaces of
the bodies interface. The calculated contact forces are distributed on each body.
(1) Types of contact surface
Within RecurDyn, contact surfaces between two bodies are categorized as follows.
- General: Geo Surface Contact, Geo Curve Contact, Solid Contact, Surface To Surface and others
- Primitive 3D: Sphere To Sphere, Sphere To Cylinder, other such contacts.
- 2D: Geo Surface Contact, Geo Curve Contact, Curve To Curve, Circle To Curve and others
These can be access through their corresponding icons in the Contact group of Professional tab as
shown in Fig. 5.187. For simple geometry like spheres and circles, because their surface geometries
can be described by analytical functions, the computational loads are fairly low and setting their
parameters is simple. But for general geometry like surface to surface and patch surfaces,
computational loads are high and setting their parameters is complicated. For practical purposes, it is
recommended that simple geometry contacts be used as often as possible.
217
Fig. 5.187(a) General contact
Fig. 5.187(c) Primitive 3D contact
Fig. 5.187(b) 2D contact
(2) Calculation of contact forces
As a simple geometry contact example, consider ‘Sphere To Sphere’ contact. Contact force
calculation and its contact parameters will be explained. The contact force is calculated as
f fn ff
where f n and f f indicate normal constraint force and friction force, respectively.
(a) Normal constraint force
Fig. 5.188 shows two bodies that are in contact. If the
indentation is written as , then the normal force becomes
m2
m1 m3
fn k c (5.7)
where k and c are the spring constant and damping
coefficient, m1 and m2 are exponents for the spring and Fig. 5.188 Sphere to Sphere contact
the damping, and m3 is the indentation exponent.
Spring constant k varies depending on the material and shape of the two bodies, and the
218
relative velocity at the initial point of contact.
Hertz(3) theoretically derived the stiffness k between two spheres as
4 1 Ei
k , ki 2
(i 1, 2) (5.8)
3 1 1 1 1 1 i
k1 k2 r1 r2
where ri , Ei , and i are the radius, Young’s modulus, and poisson ratio for the i -th sphere. In
two-body contact, this value is often referenced. Within RecurDyn the k value is called the ‘Spring
Coefficient’.
The value of the damping coefficient c also has unknown portions, so theoretical evaluations for
this value are also difficult. For a tentative estimation of c , a k value of 1/1000 1/10000 is
often used if ‘ kg, s, mm, N ‘unit system is used.
(b) Calculation of friction force
Fig. 5.189 shows the friction force f f exerted between two contacting bodies. Let t be a unit
vector tangent to the sliding plane between two bodies, and v i and v j be the absolute velocity
vectors at a contact point on body i and body j . Then, the friction force f f is given as
ff (v ) f n . (5.9)
where f n is a normal constraint force and
( v ) is the friction coefficient with sign. If
v is the relative velocity of body j with
respect to body i along t , then v can be
written as
v (v j vi ) t (5.10)
where v i , v j and t are expressed in

Fig. 5.189 Friction between two bodies
vector form with respect to the global
reference frame O .
219
Generally, in motion accompanied by normal and frictional forces, either sliding type or stick-
slip type motion will appear. RecurDyn can handle both types of motion.
(c) Friction force calculation method [Professional > Contact > Common UI > Characteristic page ]
There are three types of calculation methods for friction forces within RecurDyn.
- Dynamic Friction Coefficient: Define the friction coefficient by a constant value.
- Friction Force Spline: Define the friction force by a spline curve with respect to relative velocity.
- Friction Coefficient Spline: Define the friction coefficient by a spline curve with respect to
relative velocity.
‘Dynamic Friction Coefficient’ is the standard method and will be explained below. For this case,
the ‘Friction Coefficient’ is given as a constant value or by using ‘Parametric Values’. Both ‘Sliding’
type and ‘Sliding & Stiction’ type are involved in this method.
1) Sliding
This is the case when only slip motion is taken into account. The friction coefficient (v) is
defined by Eq. (5.11) and as shown in Fig. 5.190(a).
d ; v vd
havsi n(v, vd , d , vs , s ) ; vd v vs
(v ) havsi n(v, vs , s , vs , s ) ; vs v vs (5.11)
havsi n(v, vs , s , vs , d) ; vs v vd
d ; vd v
where the havsin ( x, x0 , h0 , x1 , h1 ) is defined by(5)
h0
; x x0
h1 h0 h1 h0 x x0
havsin( x, x0 , h0 , x1 , h1 ) sin( ) ; x0 x x1
2 2 x1 x0 2
; x1 x
h1
(5.12)
and the parameters are defined as follows:
d : Dynamic threshold friction coefficient
s : Static friction threshold coefficient
220
vd : Dynamic threshold velocity
v s : Static threshold velocity

v
v : Tangential relative velocity
Fig. 5.190(a)
Friction coefficient with respect to relative velocity
for sliding motion (6)
2) Sliding & Stiction
This is the case when the motion of sliding and stiction, generally called stick-slip motion, is taken
into account. The friction force within RecurDyn is given by (6)
ff f fstiction f fsliding (v) fn (5.13)
The two components in the friction force are
f fstiction (1 ) fn (5.14a)
f fsliding v n f (5.14b)
ff
(v ) sgn(v) , (when f n 0) (5.15)
fn
where the parameters are defined as follows:
221
: Weight between stiction friction force and sliding friction force, 0 1
: Stiction friction coefficient with sign
v : Sliding friction coefficient with sign
These parameters are calculated as follows:
a) For the slip (sliding) region where vs v , the parameters are given as
1.0
0.0 (5.16)
v sgn(v) havsi n( v , vs , s , vd , d )
where the sign function sgn( x) is defined by
sgn( x) x/ x . (5.17)
b) For the stick (stiction) region where 0 v vs , the parameters are given as
(v ) step5( v , vs , 1.0, vs ,1.0)

( ) sgn( ) step5( , max , s , max , s ) (5.18)
v (v ) sgn(v) step5( v , vs , s , vs , s )
where the step5( x, x0 , y0 , x1 , y1 ) function is defined by(7)
h0 ; x x0
x x0 3 x x0 x x0 2
step5( x, x0 , h0 , x1 , h1 ) h0 (h1 h0 )( ) 10 15( ) 6( ) ; x0 x x1
x1 x0 x1 x0 x1 x0
h1 ; x1 x
(5.19)
and the parameters are defined as follows:
: Stiction deformation
max : Maximun stiction deformation
vt : Threshould tangential relative velocity
t : Theshould friction coefficient.
For practical computations, a maxumum stiction deformation max should be selected as an
222
appropriated value so that a stationary contact is reached. For this case, the friction coefficient
(v) defined by Eq. (5.15) is shown as in Fig. 5.190(b) by taking the parameters in Eqs. (5.16)
and (5.18) as
vs vt (threshould tangential relative velocity)
s t (threshould friction coefficient).
Further detail explanation can be found in the characteristic page in RecurDynHelp (9).
Fig. 5.190(b)
Friction coefficient with respect to
relative velocity for sliding & stiction motion (6)
(3) Main parameters
(a) Contact geometry
As was described in section 5.4.4 (1), geometries of contact curves and surfaces are divided into
special and general categories. As was also explained in section 5.4.4 (1), special geometry uses
analytical formulations for contact functions without introducing any approximations when
calculating contact judgement and contact forces. On the other hand, general geometry uses many
223
patched elements generated from the given original 2D curves or 3D surfaces when calculating
contact judgement and contact forces. For this case, the curves and surfaces used in calculating
contact problems are slightly deformed from the original given data. As such, in practical situations,
it is essential to pay complete attention to the selection of the geometry of curves and surfaces from
the point of view of accuracy and efficiency in computation.
(b) Buffer
Buffer is a measure used for specifying the region for contact detection between the bodies, and
refers to as bounding boxes and the like. Based on the size of the buffer, numerical integration steps
in the analysis are determined. There are three types of methods used for specifying the buffer. For
special curves and surfaces, ‘Buffer Radius Factor’ is used for defining the boundary region, whereas
for general curves and surfaces, ‘Max Penetration’ is generally used.
1) Buffer Radius Factor
Buffer size is determined by the ‘Buffer Radius Factor’ and the radius of the action body (Fig.
5.191 and Fig. 5.192). If the distance between two contact surfaces become equal to or less than the
buffer radius, the time integration step size should be reduced to maintain accuracy of the calculation
at a specific level.
Action Radius Buffer
Action Radius Buffer Radius factor
Fig. 5.191
Buffer and ‘Buffer Radius Factor’
Fig. 5.192 Buffer Radius Factor
224
2) Boundary Box (BB)
In the case when ‘Buffer Radius Factor’ is not
effective like for patch contact, ‘Boundary Box’ is
defined and used as a buffer region (Fig. 5.193).

Fig. 5.193 Boundary Box
This region is calculated based on ‘Max
Penetration’. Action Sphere

Contact Surface
Contact Calculation
Contact
required
depth
3) Max Penetration
Contact Calculation Non-contact calculation,
For solids, when two contact geometries reach i.e. weave through
Gravity Base Body

‘Max Penetration’, contact force calculation is
stopped (Fig. 5.194). Fig. 5.194 Max Penetration
(c) Maximum Stepsize Factor Direction
When a contact surface comes into the buffer

Max Depth
region, the maximum step size of time integration

Non-Contact Contact State
is changed according to the ‘Maximum Stepsize
Factor’ (Fig. 5.195 and Fig. 5.196). Dt (Maximum Stepsize Factor)

Dt
Fig. 5.195 Maximum Stepsize Factor
For contact solids like gears, part of the
solid (the teeth) is always in contact during
operation. In such a case, computational time
often unnecessarily increases. It would be
effective to adjust the time integration step
size by using the maximum time step rather
than by using ‘Maximum Stepsize Factor’ by
setting it to ‘1’.
Fig. 5.196 Maximum Stepsize Factor

225
(4) Contact force direction display
When curves and surfaces are used as
contact geometry, it is necessary to specify
contact force direction. Specifying contact
force direction is carried out by watching
arrows that appear in the Working window.
In Fig. 5.197, the direction of the arrows
represent the direction of the forces. The
number of arrows displayed can be changed.
Fig. 5.197 Contact force direction
(5) Primitive3D contact type

(a) Sphere To Sphere RecurDynHelp: [Professional > Contact > Primitive Contact > 3D Contact >
Sphere To Sphere]
The contact force between two spheres is defined. Since Sphere To Sphere contact is
fundamental contact between two bodies, this will be explained in detail hereafter as a representative
example.
1) Creation method
 Click the Sph–Sph icon within the Contact group in the Professional tab. There are five creation
methods. The following information shall be input into the Modeling Option Toolbar.
Sphere, Sphere: (Fig. 5.198)

Action
 Select the ‘Sphere, Sphere’ creation option in the
Modeling Option Toolbar.
 Select a sphere which becomes the base body.
 Select a sphere which becomes the action body. Base
Fig. 5.198 SphereToSphere contact

2) Property
The ‘SphereToSphere’ tab in the ‘Properties of SpehereToSphere’ dialog box is shown in Fig.
226
5.199. This is used to set the properties for ‘SphereToSphere’ contact.
 Open the Property dialog of
SphereToShpere Contact (see sect. 5.4.2
(2)).
- Definition of the Base Sphere:
The specified Entity Name (base sphere
name) and the Radius are viewed using
the ‘Gr’ button.
- Definition of the Action Sphere:

Fig. 5.199 SpehereToSphere Properties
- Synchronize with Geometry:
If the marker is on, the specified value is
automatically used as the radius. If it is
off, users can change the value.
- Force Display:
On/Off for Force vector viewing.

The ‘Characteristic’ tab in the Properties of SphereToSphere dialog box is shown in Fig. 5.200.
1) Spring Coefficient
This is used to set the characteristics for ‘SphereToSphere’ contact (Fig. 5.200).
- Spring Coefficient:  Define the stiffness as a
spring constant. Parametric value setting is also
possible.
 Type: Select ‘Spring Coefficient’.
 Input a value.
 Click the ‘OK’ button to close the dialog.
- Spring Spline:  Set the stiffness using a
nonlinear function. The reaction spline force is

Fig. 5.200 SpheretoSphere
defined with respect to the displacement. Spring coefficient settings
227
2) Damping Coefficient
The setting procedure for the ‘Damping
Coefficient’ is the same as the setting
procedure for the ‘Spring Coefficient’ (Fig.
5.201).
3) Exponents
- Stiffness Exponent (m1): Fig. 5.201 Damping Coefficient setting of
- Damping Exponent (m2): SphereToSphere
- Indentation Exponent (m3):
These values are usually defined with a default value.
 Type: Select ‘Dynamic Friction Coefficient’.

4) Friction coefficient
 Set the Dynamic Friction Coefficient in the right #1 #2
box (# 1 in Fig. 5.202).
- Click the ‘Friction’ button, then the ‘Friction
Definition’ dialog box will open (#2 in Fig. 5.202).
- Select Sliding or Sliding & Stiction (#3 in Fig. 5.203).

Fig. 5.202
- Input the following parameters (# 4 in Fig. 5.203)
Characteristics property dialog
(Refer to sect. 5.4.4 (2)-(c))
 Static Threshold Velocity
 Dynamic Threshold Velocity #3
 Static Friction Coefficient
 Maximum Friction Force
- Click the ‘Close’ button to close the ‘Friction #4

Definition’ dialog box.
- Click ‘OK’ button to close Property dialog box.

Fig. 5.203 Definition of friction
228
There are other creating methods for SphereToSphere contact. The following is a brief explanation
for these contacts.

Action
Sphere, MultiSphere: (Fig. 5.204)

- Click the ‘Sph-Sph’ icon within the Contact group
in the ‘Professional’ tab.
 Select the ‘Sphere, MultiSphere’ creation
option in the Modeling Option Toolbar.
 Select a sphere which becomes the base body.
 Select spheres which become the action
bodies.
To finish the operation, right-click, then select Base

‘Finish Operation’, or click the ‘Finish’ button
Fig. 5.204
located on the top of the Working window.
Sphere, Multiple Spheres contact
Sphere, Sphere, Sphere, Sphere:
- Click the ‘Sph-Sph’ icon within the Contact group in the Professional tab.
 Select the ‘Sphere, Sphere, Sphere, Sphere’ creation option in the Modeling Option Toolbar.
 Select a sphere which becomes the first base body.
 Select a sphere which becomes the first action body. A contact condition is set between the
two bodies.
 Select a sphere which becomes the second base body.
 Select a sphere which becomes the second action body. A contact condition is set between
the two bodies.
This pair of operations continues until the Finish Operation command is given.
229
MultiSphere, MultiSphere:
 Select the ‘MultiSphere, MultiSphere’ creation option in the Modeling Option Toolbar.
 Select multiple spheres to define the base bodies.
 Right-click to select Finish Operation.
 Select multiple spheres to define the action bodies.
 Right-click to select ‘Finish Operation’.
Contact conditions are defined between the base bodies and the action bodies.
MultiSphere:
 Select the ‘MultiSphere, MultiSphere’ creation option in the Modeling Option Toolbar.
 Select multiple spheres at one time to define the base and action bodies.
(b) Sphere In Sphere (Fig. 5.205)

(b) Sphere In Sphere
A contact force is created between an outer sphere and
- 複数の球をクリック。
an inner sphere. The outer sphere becomes the base body
- オペレーション終了をクリック。
and the inner sphere becomes the action body.
指定した球間全てに接触条件が定義される。
Action Body Base Body
(c) Sphere To Cylinder (Fig. 5.206)

Fig. 5.205 Sphere In Sphere contact
A contact force is created between a cylinder and a
sphere.
(d) Sphere In Cylinder (Fig. 5.207)
A contact force is created between an inner cylinder and an outer sphere. The cylinder becomes
the base body and the sphere becomes the action body.
230
Fig. 5.206 Sphere To Cylinder contact Fig. 5.207 Sphere In Cylinder contact
(e) Cylinder To Cylinder
A contact force is created between two cylinders. Neither of the cylinders may lie within the
other. One becomes the base body and the other the action body.
1) Creation method
Cylinder, Cylinder: (Fig. 5.208) Action

- Click the ‘Cyl-Cyl’ icon within the Contact
group in the Professional tab.
 Select the ‘Cylinder, Cylinder’ creation
option in the Modeling Option Toolbar.
 Select a cylinder which becomes the base Base

body.
Fig. 5.208 Cylinder To Cylinder contact
 Select a cylinder which becomes the action
body. Action
Cylinder, MultiCylinder: (Fig. 5.209)
- Click the ‘Cyl-Cyl’ icon within the Contact
group in the Professional tab.
 Select the ‘Cylinder, MultiCylinder’ creation
option in the Modeling Option Toolbar. Base
Fig. 5.209 Cylinder, MultiCylinder contact

231
 Select a cylinder which becomes the base
body.
 Select multiple cylinders which become the
action bodies.
Cylinder, Cylinder, Cylinder, Cylinder:
- Click the ‘Cyl-Cyl’ icon within the Contact group in the Professional tab.
 Select the ‘Cylinder, Cylinder, Cylinder, Cylinder’ creation option in the Modeling
Option Toolbar.
 Cylinder: Select a cylinder which becomes the first base body.
 Cylinder: Select a cylinder which becomes the first action body. A contact condition is
set between the two bodies.
 Cylinder: Select a cylinder which becomes the second base body.
 Cylinder: Select a cylinder which becomes the second action body. A contact condition
is set between the two bodies.
When cylinder selection process is complete, right-click to select ‘Finish Operation’.
MultiCylinder, MultiCylinder:
 Select the ‘MultiCylinder, MultiCylinder’ creation option in the Modeling Option
Toolbar.
 Select multiple cylinders to define the base bodies.
 Select multiple cylinders to define the action bodies.
Contact conditions are defined between the base bodies and the action bodies.
232
MultiCylinder:
 Select the ‘MultiCylinder, MultiCylinder’ creation option in the Modeling Option
Toolbar.
 Select multiple cylinders at one time to define base and action bodies.
2) Property RecurDynHelp: [Professional > Contact > Primitive Contact > 3D Contact >
Cylinder To Cylinder]
The ‘CylinderToCylinder’ tab in the ‘Properties of CylinderToCylinder’ dialog box (Fig. 5.210)
is used to set the properties for ‘CylinderToCylinder’ contact.
- Definition of the Base Surface:
Name, Radius and Length are viewed by
clicking the Gr button.
- Definition of the Action Cylinder:
- Synchronize with Geometry:
If checked specified values of radius
and length are used. If it is not checked
the values can be changed. Fig. 5.210

- Force Display: Properties of CylinderToCylinder
Force vector viewing can be toggled
on and off. Cylinder1 Cylinder2
(f) Cylinder In Cylinder
A contact force is created between an outer
cylinder and an inner cylinder. The outer cylinder
becomes the base body and the inner cylinder
becomes the action body (Fig. 5.211). Fig. 5.211 Cylinder In Cylinder contact
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(6) General contact types
(a) Extended Surface To Surface Contact (Patch contact) (Fig. 5.212)
A contact force is created between specified
patches. A general patched surface can adapt to
various types of geometries. It has high
versatility, but computational loads are high.
Refer to ‘Extended Surface To Surface Contact’
of RecurDynHelp (1). Fig. 5.212 Patch contact
(b) Solid Contact
A contact force is created between solids. Refer to ‘Solid Contact’ of RecurDynHelp (1).
5.5 Sensor RecurDynHelp: [Professional > Sensor]
A sensor is a device that detects if the target is inside the specified range or not, measures the
time instance at the start and the end when the sensor responds, and the distance between the target
and the reference point. There are two types of sensors: box and laser.
- Box type
A boxed sensor range and a target are defined (Fig. 5.213). If the target is inside the box, ‘1’ is
output. Otherwise, it is ‘0’ (Fig. 5.214).
Sensor range
Target Marker
Fig. 5.213
Sensor box and target marker
Fig. 5.214 Sensor output
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- Laser type
A sensor marker and target geometry are defined, (Fig. 5.215) and the distance between them is
measured (Fig. 5.216).
Sensor Marker
Range
Sensor Distance
Target Geometry
Fig. 5.215
Sensor Marker and Target Geometry Fig. 5.216 Measuring distance
between the sensor marker and target geometry
5.6 Expression RecurDynHelp: [Subentity > Expression]
‘Expression’ is the command which describes expressions in the Expression List. The values for
the described expressions are calculated where the values are required. In the ‘Expression’, the
following functions are involved:
- Definition of Motions (using various pre-defined functions)
- Output of state quantities which are not usually calculated using standard functions
- Arithmetic If
- Definition of Forces and Torques
- Definition of Parameters
The role of Expression in mechanism analysis is shown in Fig. 5.217.
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Mechanism System Expression Request / Scope
Force, Joint, etc…

Plot
Fig. 5.217 Role of ‘Expression’ in mechanism analysis
(1) Creation of Expressions
(a) Display of Expression List
An Expression is created utilizing the Expression List. The Expression List is opened by the
following two methods.
- Click the Expression icon in the Expression group
of the ‘SubEntity’ tab in the Ribbon, or
- Click the EL button in the Property dialog box of
an entity to view the Expression List dialog box
(Fig. 5.218).
As an example, consider an ‘Expression’ for a

revolute joint. Fig. 5.218 Expression List
⇒ Open the Property dialog box of the Revolute
Joint (see sect. 5.4.2 (2)).
⇒ Check Include Motion.
⇒ Click the Motion button.
The Motion dialog box will open.
⇒ Click the EL button.
The Expression List dialog box will open (Fig.
5.220).
(b) Input method for Expression

この例では、ジョイントの作成、ジョイント
This will be explained in detail in Driving motion setting in section 6.1.2 (1) and Motion setting in
sectionのProperty
6.2 (1). Readers are recommended to refer
dialogをひらく、Motion to these sections.
Setting
236
にチェック、Mtion button をクリックして
ELボタンをくりっくするとExpression List
(Fig. 5.209)が開く。
(2) Function list
(a) Interpolation functions and conditional branches
RecurDynHelp: [Subentity], [Subentity > Expression > Available Functions > How to use Predefined Functions]
- Spline interpolation functions: Spline interpolated values are calculated from registered data.
- STEP: Values for the step function are calculated. The HAVSIN function is used to interpolate
the function value where the function value jumps.
- STEP5: Values for the step function are calculated. The fifth order polynomial function is used
to interpolate the function value where the function value jumps.
- IF: The signal is output according to the IF conditional branch.
- SWEEP: A sinusoidal sweep function is output according to linear frequency increase.
(b) Displacement Functions RecurDynHelp: [Subentity > Expression > Available Functions]
Displacement of the action marker (m1) relative to the base marker (m2) are measured by the
reference marker (m3). Rotational angles of the action marker relative to the base marker are measured
by the rotation angle about each axis of the reference marker. This displacement, the rotational angles,
and Euler angles are output.
(c) Velocity Functions
The components of the velocity of the action marker (m1) relative to the base marker (m2) with
respect to the reference marker (m3) are output (Fig. 5.219). The components of the angular velocity
of the action marker (m1) relative to the base marker (m2) with respect to the reference marker (m3)
are also output.

V
m1
Fig. 5.219
Definition of Displacement function
m2
m3
V
X 237
(d) Acceleration Functions
The components of the acceleration of the action marker (m1) relative to the base marker (m2)
with respect to the reference marker (m3) are output. The angular acceleration of the action marker
(m1) relative to the base marker (m2) with respect to the reference marker (m4) are measured by
the reference marker (m3) in the component form.
(e) Other Functions
Sensor functions, FORTRAN functions, and other functions are provided.
5.7 Analysis solver
The objective of mechanism analyses using RecurDyn software is to investigate motion of the
concerned mechanism under various loading conditions. RecurDyn offers various types of analyses
as shown in Fig. 5.220. Users can select a required analysis type by using the Analysis icons in the
Analysis group shown in Fig. 5.220.
Fig. 5.220 Analysis icons in the Analysis group

There are seven different kinds of analyses:
- Eigenvalue Analysis
- Frequency Response Analysis
- Design of Experiment, i.e. Optimal design study
- Scenario Analysis
- Pre Analysis, i.e. model checking
- Static Analysis
- Dynamic/Kinematic Analysis
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In this book, only the ‘Dynamic/Kinematic’ analysis type will be explained. In this Dynamic/
Kinematic analysis, the program analyzes time dependent motions or simulations for machines and
structures. Since time integration solvers are essential for simulations, this will also be explained.
(1) Model Setting dialog
To proceed with the analysis, various items need to be set. The following click sequence will
guide a user to reach the Simulation dialog.
Home tab  Model Setting group  Simulation icon (Fig. 5.221). Then, the Simulation dialog
box will open (Fig. 5.222).
Fig. 5.221
Simulation in the Model Setting group
of the Home tab
Fig. 5.222 Simulation property dialog box
In the General tab of the Simulation property of the Model Setting group within the Home tab,
Number of Core (for parallel processing), Solver Type, Expression, Initial Velocity, and Check
Redundant values are set. In typical simulations, the default settings are used.
(2) Analysis and stop execution
Analysis execution starts by clicking the Analysis tab in the Ribbon, and selecting Simulation type.
Functions for stopping, pausing, and restarting the execution are provided within RecurDyn.
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(3) Brief explanation regarding numerical integration solvers used within RecurDyn
(a) Numerical integration solvers and their roles
Numerical integration solvers used to numerically integrate dynamic equilibrium equations of
motion within RecurDyn will be briefly explained. Afterwards, the setting procedure in the software
will be explained. A numerical integration solver performs numerical integrations in a digital computer
(i.e. a program software which has a numerical integration function).
A physical model is built up from a concerned problem and an analysis model based on this physical
model will be created using RecurDyn’s GUI. The analysis model can also be created by importing
CAD data with newly added constraint conditions. Based on the created analysis model, equations of
motion and constraint equations are automatically generated within RecurDyn. The equations of
motion are described by differential equations, and the constraint equations are described by algebraic
equations. Thus, the combined system equations become differential algebraic equations.
Typical structural-vibration problems are described by differential vibration equations, whereas
multibody dynamics problems are described by differential equations of motion and algebraic
constraint equations. Thus, mechanism problems, a type of multibody dynamics problem, are more
difficult to solve than structural-vibration problems.
(b) Mechanism problems solved using RecurDyn
For general mechanical systems, equations of motion and constraint equations are summarized as
follows.
 F m   M (q, t )q  G T (q, t ) λ  Q(q, q, t ) 

F (q, q, q, t )   c    0 (5.21)
F   g (q, t ) 
where q is a generalized coordinate vector, t is time, M(q, t ) is the mass matrix, Q(q, q, t ) is
the forcing function vector, g(q, t ) is the constraint vector, and G(q, t )  g(q, t ) / q is the
Jacobian matrix. In the case of the pendulumn problem presented in section 4.8 of Part 2, the upper
equations of Eq. (4.67) correspond to the upper equations of Eq. (5.21) and the lower equations of Eq.
(4.67) correspond to the lower equations of Eq. (5.21).
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(c) Classification of numerical integration solvers used in RecurDyn
Numerical integration solvers employed in the simulations of mechanism analyses include the
Runge-Kutta method, Adams method, and other such methods for small scale problems, but not
many high performance stable methods for large scale problems. Here, numerical integration solvers
for differential-algebraic equations which are employed in RecurDyn will be introduced. Four solvers
described below are provided in RecurDyn.
・ Generalized-α method
・ DASSL
・ Track Generalized-α Integrator
・ Hybrid Integrator
The Track Generalized-α Integrator is a slight modification of the Generalized-α method described
in 1) below. This integrator is developed for systems that contain systems of special track, chain, or
rigid belt bodies, or systems of these special bodies together with a general system of rigid and RFlex
bodies. The special bodies are rigid bodies that are only interconnected with other bodies through force
elements.
The Hybrid Integrator is used for solving systems that contain FFlex bodies. These systems can
also contain rigid bodies, RFlex bodies, and the special track, chain, or rigid belt bodies. The Hybrid
Integrator uses the Newmark method for solving the equations of motion for the FFlex bodies, RFlex
bodies, and general rigid bodies in the system. Special track, chain, or rigid belt body systems can also
be part of the model.
The features of these integration methods are listed in Table 5.5 which also contains the Runge-
Kutta method. The Runge-Kutta method is an explicit method, and its solutions sometimes diverge.
All the other methods are implicit methods, and solutions are guaranteed to be stable.
The Generalized-α method is suited for solving mechanism problems in typical mechanical
systems and is the standard integration method that is used in RecurDyn.
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Table 5.5 The features of numerical integration methods used in RecurDyn
Classification Integration method Evaluation method Characteristics
Single step Generalized α method Forecast the present from a Robust for
method Newmark β method single preceding point discontinuous systems
Multi step DASSL Forecast the present from High precision for
method Runge-Kutta method multiple preceding points smooth responses
1) Generalized α method
The Generalized-α method is one of two standard methods that can be used in RecurDyn to solve
the equations of motion for general systems that contain general rigid bodies and RFlex bodies. It is
an implicit method with numerical damping that is capable of solving stiff systems of equations. It is
a single-step method with 2nd order convergence. The user can control the amount of numerical
damping, which can be used to control the rate at which high-frequency oscillations are damped out
of the solution.
2) DASSL
DASSL is the second choice of integrators for solving the equations of motion for systems of general
rigid bodies and RFlex bodies in RecurDyn. Like the Generalized-α method, DASSL is an implicit
integration method with numerical damping that can solve stiff systems of equations. In contrast to the
Generalized-α method, it is a multi-step method with a variable order of convergence, and the amount of
numerical damping cannot be directly controlled by the user. Furthermore, the user can limit the maximum
order of the polynomial used to approximate the local solution used by DASSL. Limiting it to a lower order
can have a similar effect to increasing the numerical damping.
242
(3) Setting various items in ‘Dynamic’ analysis
(a) Dynamic analysis execution
- Click the Analysis tab in the Ribbon  Click
Simulation Type group  Click Dyn/Kim icon.
- Input various parameters from the Dyn/Kin Analysis
dialog box, then click the Simulate button Fig. 5.223 Simulation Type group
(Fig. 5.223).
(b) Setting the General tab in the Dyn/Kin Analysis property dialog (Fig. 5.224)
- End Time: Specify the analysis end time. The unit
system employed follows the global unit system.
- Step: Specify the frame number for animation output,
from which the output time step is determined.
(ex.) If End Time=5 and Step=100, then the time step
is 0.05 sec.
- Plot Multiplier Step Factor: This defines the
interpolation number between two consecutive pieces
of data. Plot data for animation is equal to ‘Step’ Fig. 5.224

‘General’ items
multiplied by ‘Plot Multiplier Step Factor’ plus one.
in ‘Dyn/KinAnalysis’ dialog box
(ex.) If Step=100 and Plot Multiplier Step Factor=2,
then plot data for animation will be at least 201* 1).
*1) RecurDyn’s built in convergence checking may automatically adjust (decrease) the step size,
resulting in more plot data.
(c) Setting the Parameter tab in the Dyn/Kin Analysis property dialog box
(Fig. 5.225 and Fig. 5.226)
Upon opening the Parameter tab in the Dyn/Kin Analysis property dialog box, if the
243
Generalized-α method is selected, IMGALPHA is shown as in Fig. 5.225. If the DASSL solver is
selected DDASSL is shown as in Fig. 5.226.
Fig. 5.225 IMGALPHA Integrator Fig. 5.226 DDASSL Integrator
- Maximum Order:  Set the order of DDASSL  5 . In the case of IMGALPHA, this is
indifferent.
- Maximum Time Step:  Set the maximum step size.
- Initial Time Step:  Set the initial time step.
- Error Tolerance:  Set the error tolerance for convergence criterion.
- Integrator Type:  Select the type of integrator. IMGALPHA and DDASSL are provided. The
default is IMGALPHA.
- Numerical Damping:  Numerical damping parameter of integrator IMGALPHA.
0 means no damping and 1 equates to maximum damping.
- Constant Stepsize: This is not used within the standard function.
- Jacobian Evaluation:  Set the interval in time step for Jacobian evaluation during integration.
This is not used within the standard function. This is only available in the Track Generalized-α
Solver.
244
- Match Solving Stepsize with Report Step: If this box is checked, the analysis results are output
by synchronizing the analysis time step.
- End Time Condition: This is used for restarting the analysis for further calculations. If this box is
checked, the positions and velocities are stored at the time the computation ends.
- Match Simulation End Time with User Input: If this box is checked, the information at the
specified simulation end time is stored into output files.
- Stop Condition: If the specified conditions are satisfied, the analysis will stop.
5.8 Post processing
There are three post processing functions.
- Animation: Display the motion of the
mechanism during the analysis run time
(Fig. 5.227).
- Graph: Display analysis results in a plot
format (Fig. 5.228).
- Scope: Display analysis results within a Fig. 5.227 Animation display

modeler without using plotter (Fig. 5.229).
Fig. 5.228 Plotter output Fig. 5.229 Scope output
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5.9 Some remarks on analysis model creation
(a) Redundant constraints
Redundant constraints are considered in this section. For spatial kinematics, number of degrees
of freedom p for spatial mechanisms is given by p 6N m where N indicates the number of
bodies and m indicates the number of configuration constraints.
Now consider redundancy within the constraint conditions. As a concrete example, the four-bar
mechanism that was already considered in Fig. 2.1 of chapter 2 will be considered here.
The linkage shown in Fig. 5.230 is composed of five bodies from Body1 to Body5 and six joints,
two of which are fixed and four of which are revolute. The number of constraints and the number of
unknown variables are listed in Table 5.6.
Revolute Joint2 Revolute Joint3

Body3
Revolute
Body2 Body1 Driving
Joint
TZ
Revolute
Body4 RX
Joint4
y
Fixed Joint1 RY Body5
z X Fixed Joint2
Fig. 5.230 Motion of a four-bar linkage
From Table 5.6, the number of degrees of freedom p becomes p 6N m 6 5 33 3 . This
means that the number of constraint equations is larger than that of the number of unknown variables
by three (this is the redundant constraint case). Consider this problem, progressing from Body5,
Revolute Joint4 to Revolute Joint3, …, and finally reaching Revolute Driving Joint1. When formal
procedures are followed, five geometrical constraints and one driving constraint are specified at the
final joint. But actually, the mechanism was already constrained to planar motion by the preceding
joints’ constraints. Thus at Driving Joint1, the planar revolute joint condition is the only
246
Table 5.6 Numbers of constraints and unknown variables for the four-bar linkage
Body Joint No. of constraints* No. of unknown
variables*
Body1 Ground1 6 (3) 6 (3)
Revolute Driving Joint1 6 (3)
Body2 6 (3)
Revolute Joint2 5 (2)
Body3 6 (3)
Body4 6 (3)
Body5 Ground2 6 (3) 6 (3)
Total No. 33 (15) Total No. 30 (15)
* The numbers in ( ) indicate those for the planar case.
possible specification (i.e. the number of constraints that can be specified by Revolute Driving Joint1
is actually three, and not six). Then, the analysis model can be solved from the point of view of the
number of degrees of freedom. Fig. 5.232 demonstrates that translational motion along the Z-axis (TZ),
rotational motion about X-axis (RX), and rotational motion about the Y-axis (RY) can not be
specified.
If the problem is solved as a planar problem, the number of degrees of freedom becomes
p 3N m 3 5 (3 3 2 3) 0 . Then the four-bar linkage problem driven by Revolute
Driving Joint1 can be solved as a standard kinematics problem.
This is of no help and can even be harmful. In RecurDyn, if there are redundant constraints in the
analysis, they are neglected. Such a problem should be solved as a planar problem.
(b) Lock-up positions
Dependent generalized coordinates are considered in this section. Fig. 5.141 showed a piston-
crank mechanism that is found in internal combustion engines. If the length of the crank, r is less
than that of the connecting rod, l , then, provided that the mechanism is assembled as shown in Fig.
247
5.231, point C will always lie to the right of point B . If r l in Fig. 5.232, as shown in Fig.
5.233, the Jacobian of the constraint equations will go to zero when the BC line becomes
perpendicular to AC . At this position, can not be uniquely determined as a function of x . If an
attempt is made to rotate the crank in a counter-clockwise direction in the configuration shown in Fig.
5.232, as shown in Fig. 5.233, no solution of the constraint equation exists. This is because the
mechanism has locked-up and cannot continue to turn(4). This means that the machine fails to perform
the desired function. The reader may have noticed that in this case, the generalized coordinates selected
were not independent, as they had been in the cases in sections 4.8 and 4.9 in Part 2.
Fig. 5.231 A standard piston-crank mechanism Fig. 5.232 Piston-crank mechanism when r l
Fig. 5.233 Lock-up position when r l
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6. Analyses using RecurDyn
In section 4.2, how to conduct dynamics and kinematics analyses was briefly covered. As a simple
example, how to create an analysis model of a pendulum using RecurDyn was explained. In chapter
5, composition and how to use RecurDyn was more precisely explained. With this knowledge in mind,
actual creations and analyses of models for practical problems, through rather introductory examples,
will be carried out using RecurDyn in this chapter.
With the remarkable progress in CAD, recent CAD data has been used for fields of analysis and
data management. In this chapter, two model creation methods will be introduced: One is the method
of creating analysis models for RecurDyn by importing already existing CAD data, and the other is
the method of creating analysis models by using RecurDyn’s GUI.
The four problems that will be treated here are
1) Motion and vibration of a four-bar linkage mechanism with a spring
2) Motion of a three dimensional slider-crank mechanism
3) Vibration of an elastic beam
4) Control of an inverted pendulum.
Analysis of motion and vibration for the four-bar linkage mechanism mentioned in 1) above has
been used as a standard mechanism problem in many texts and reference books. This is sort of a
representative example in mainly kinematics analysis. Problems 2), 3), and 4) each have their own
special features. Problems 2), 3), and 4) are introduced as typical examples for three dimensional
configuration, elastic beam analysis using rigid multibody dynamics, and simple control.
6.1 Motion of a four-bar linkage mechanism
6.1.1 Special remarks before analysis model creation
Consider motion analysis of a four-bar linkage mechanism. Fig. 6.1 (see also Fig. 2.1) shows the
four-bar linkage mechanism (This model was originated by FunctionBay K.K., Japan). By treating
this model, methods of importing CAD data, constraining bodies by revolute joints, applying specified
249
rotational motions, and setting a translational spring are studied.
revolute joint 2 ⑤ coupler

revolute joint 3
⑥ crank ④ rocker
⑦ coil spring
revolute joint 1 ③
①
y fixed joint 1
fixed joint 3
Ground
x ②
図 6.1 4 節リンク機構の全体図
z
fixed joint 2
revolute joint 4
Fig. 6.1 A whole picture of the four-bar linkage mechanism
The degrees of freedom and the type of analysis of mechanism systems will be studied before
creating an analysis model (for fundamental knowledge of mechanism systems) using RecurDyn.
(a) Degrees of freedom of a four-bar linkage mechanism
This four-bar linkage mechanism is a two dimensional planar mechanism. The degrees of freedom
were already explained for general systems in section 4.3 (3) of Part 2 but here the degrees of freedom
for the four-bar linkage mechanism system are considered. The degrees of freedom for this system
will be calculated by using Table 6.1. The degrees of freedom are defined as the smallest set of
independent coordinates that are required to define the system configuration. A rigid body in planar
problems has two translational coordinates and a rotational coordinate. Table 6.1 lists the number of
coordinates in planar cases, and that a joint constrains mechanism systems when the joint is introduced
into the systems. For example, a revolute joint constrains two translational coordinates and null
rotational coordinates.
250
The purpose of this section is to calculate the number of coordinates that can move freely in the
whole mechanism system. Since the number of constrained coordinates of fixed joints attached to the
ground is three, there is no need to take the fixed joint attached to the ground into account for counting
the degrees of freedom. This is because a force element is the element that produces forces on a body
at its connecting point, and is independent from the degrees of freedom.
For the four-bar linkage mechanism as shown in Fig. 6.1, since there are three rigid links excluding
body components attached to the ground with fixed joints, independent coordinates without constraints
come out to 3×3=9. This four-bar linkage is constrained by four revolute joints. Thus the total number
of constraint conditions comes out to 4×2=8. Therefore, the smallest set of freely movable coordinates
is 9-8=1, which means that there is only one degree of freedom.
Table 6.1 Number of coordinates constrained by a revolute joint in a planar model
Joint type Number of coordinates constrained

translation rotation total
Fixed joint 2 1 3
Revolute joint 2 0 2
(b) Types of analysis problems
The mechanism in Fig. 6.1 has the following types of analysis problems:
- Static balance configuration under gravity after releasing the mechanism from the initial
configuration (static balance analysis) as in Fig. 6.2 (a) and (b)
- Mechanism motion by applying a rotational velocity about the revolute joint 1 to the crank. The
single degree of freedom mechanism is driven by a single driver constraint. Thus, there are zero
degrees of freedom for the system. The mechanism moves under the specified driving motion
(kinematics motion analysis) (see Fig. 6.31 and Fig. 6.32).
- Mechanism motion by applying a cyclic force in the horizontal direction at the point A in Fig.
6.1. Since there is one degree of freedom, the motion of the mechanism should be determined
by solving the formulated equations of motion (dynamics motion analysis) (see Fig. 6.39).
The above explanation also holds for general mechanism systems problems.
251
(a) Initial configuration (b) Static balance configuration
Fig. 6.2 An initial configuration and the static balance
6.1.2 Analysis model creations for a four-bar linkage system
As was stated in sections 4.2 (2) and 4.2 (3), there are two methods for creating models using
RecurDyn. One is the method which directly creates an analysis model in the working window of
RecurDyn’s GUI and the other is the method which creates an analysis model in the working window
of RecurDyn’s GUI by importing the already created CAD data for bodies. Here, a RecurDyn analysis
model will be created for a four-bar linkage system. The procedure is almost the same as was described
in section 4.2 for the case of the pendulum. The four-bar linkage is slightly more complex than the
pendulum.
Analyses for the model shown in Fig. 6.1 will be performed under the following two conditions
and the differences for these will be observed.
1) Actuating the model by a specified rotation
2) Actuating the model by a rotational torque
The model undergoes planar motion in a two dimensional plane. The model consists of three rigid
link bodies as indicated by ④, ⑤, and ⑥ in Fig. 6.1. These bodies are connected by revolute joints
as in Fig. 6.1. Locker ④ and fixed point ① are connected by a spring. Fixed point ① is fixed to
the Ground. Fixed point ② and fixed point ③ which are also fixed to the Ground are connected to
link ④ and link ⑥ respectively by revolute joints.
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(1) Actuating the model by a specified rotation
Create an analysis model data for a four-bar linkage system.
- Preparations
① Start-up ‘RecurDyn’.
⇒ The ‘Start RecurDyn’ window is
opened (Fig. 6.3).
② Input ‘Fourbarlink’ as the model name.
⇒ Select ‘MMKS’ as the unit system
and ‘-Y’ as the gravity direction, then Fig. 6.3 Start RecurDyn window
click OK button.
- Body creation
Body creation is carried out by importing CAD data. The procedure for importing CAD data is
referred to in item ③ of section 4.2(3). For this model creation, CAD data ‘FOURBAR
_SPRING.x_t’ is used. The data can be downloaded from the MotionLabo, Inc’s web page
(http://motionlabo.com/archive/FOURBAR_SPRING.zip, which was originally created by
FunctionBay K.K., Japan).
The imported CAD data includes coordinates, angles, and geometries of the bodies. Therefore, it
is not necessary for users to specify this data. The users do need to specify connecting conditions
such as joints, forces, and contacts between bodies since this data is not provided in the CAD data.
The main task for creating the analysis model is to add these conditions to the analysis model within
RecurDyn.
When the CAD data is imported, the
bodies of the four-bar linkage will have been
created. Fig. 6.4 shows the imported data and
main dimensions of the bodies. The next step
is to add the connection conditions.

Fig. 6.4 Imported CAD data for bodies
253
- Joint creation
Three bodies are fixed to the ‘ground’ by

Fixing body 3
three fixing joints as shown in Fig. 6.5.
Fixing body 1
③ For fixed joint addition, refer to
procedure ④ in section 4.2(3). Fixing joint 1

Fixing joint 3
Fixing body 2
Fixing joint 2
Next, two adjacent links are connected
by a revolute joint about the Z-axis. Fig. 6.5 Addition of fixing joints
④ Click the professional tab. ⇒ Click
the revolute joint icon in Joint group
(Fig. 6.6). Revolute joint

⇒ Select and click ‘Body, Body, Point’
Fig. 6.6 Revolute joint icon
from the pull down menu in the
Modeling Option Toolbar (Fig. 6.6).
⇒ Click ‘ImportedBody6’ (Fig. 6.7).
⇒ Click ‘ImportedBody5’ (Fig. 6.8).
⇒ Click ‘0,0,0’, the centerof the hole
in the link (Fig. 6.9). The revolute joint
will have been set as shown in Fig. 6.10.

Fig. 6.7 ImportedBody6 Fig. 6.8 ImportedBody5
Fig. 6.9 Center of the hole Fig. 6.10 Revolute joint set
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⇒ Similar processes can be applied to add the revolute joints between ImportedBody5 (coupler)
and ImportedBody4 (rocker), between ImportedBody6 (crank) and ImportedBody3 (fixed joint
1), and between ImportedBody4 (rocker) and ImportedBody2 (fixed joint 2) (Fig. 6.11).
Coupler
Revolute joint 3
Revolute joint 2 Rocker

Crank
Revolute joint 1
Fixed joint 3
Y Fixed joint 1
Revolute joint 4
X Fixed joint 2
Fig. 6.11 Addition of revolute joint
- Spring creation
Set a translational spring between ‘Fixed
joint 1’ and ‘Rocker’ (see Fig. 6.11).
⑥ Click Professional tab.

Fig. 6.12 Translational spring icon
⇒ Click the translational spring icon in the
Force group (Fig. 6.12).
⇒ Select ‘Body, Body, Point, Direction’ from
the pull down menu of the Modeling Option

Toolbar (Fig. 6.13).
⇒ Click on the body for Fixing point 1 (Fig.
6.14).
⇒ Click the Rocker body (Constraining a
255
slider with a translational joint to the
ground (Fig. 6.15)).
⇒ Click on the edge of the hole of Fixing
point 1. ‘Coordinates 1. ImportedSolid1’
should appear (Fig. 6.16).
⇒ Click on the edge of the Rocker’s hole. Fig. 6.14 Fig. 6.15
Body of fixing point 1
Rocker body
‘Coordinates 4. Imported Solid1’should
appear (Fig. 6.17).
⇒ Right click on Translational spring in the
Database Window to open the Property
Window of the spring, then click on the
Spring tab (Fig. 6.18).

Fig. 6.16
⇒ Input the parameters (Fig.6.18) as: ‘Coordinates, 1. ImportedSolid1’ appeared
・Spring Coefficient：100
・Damping Coefficient：0
・Free Length：90.537
・Pre Load：0
Fig. 6.17
The value of the spring coefficient is ‘Coordinates, 4. ImportedSolid1’ is shown
arbitrary in this case. The free length of the
spring was set to the shortest distance between
the two supporting ends during one cycle
motion.
256
- Remark
Fig. 6.19 shows the coil’s spring shape as
viewed in the Working Window. If this shape
is not balanced in size, users can change the
diameter and number of coils in the Property
dialog box of the spring (Fig. 6.21).
Spring Property adjustments:
⇒ Right click on Translational spring in the
Database Window to open the Property Fig. 6.18 Input parameters for a spring
Window of the spring, then click the OK
button after setting ‘15’ for spring diameter
and ‘10’ for number of coils (Fig. 6.20).
The balance of the coil spring in Fig 6.20
has improved compared to the coil shown in
Fig. 6.19. Fig. 6.19 A view of the spring’s shape
Fig. 6.20 After change for spring shape
- Driving motion setting
A forced rotational velocity is given to
revolute joint 1 as a driving motion and will Fig. 6.21 Spring Graphic tab
in the Property window
be created here.
257
⑦ The property window for revolute joint1
in the Database Window is opened by right-
clicking anywhere within the window, then
checking ‘Include Motion’ in the Motion
setting, and by clicking the Motion button
as in Fig. 6.22.
⇒ The motion dialog box will appear.
Select ‘Velocity (time)’ from the pull Fig. 6.22 Motion button
down menu named ‘Displacement(time)’,
and click the ‘EL’ button (Fig. 6.23).
⇒ Click the ‘Create’ button from the
‘Expression List’ dialog box (Fig. 6.24),
then input ‘6*2*pi’ in the Expression
field to create an expression (Fig. 6.25).
Fig. 6.23 Motion dialog
⇒ After clicking the OK button in the
Property window (Property dialog box), click
the OK button in the Property dialog box of
Revolute joint 1.
When ‘motion’ has been set, the
icon for Revolute joint 1 changes, and
becomes active (Fig. 6.26).
Fig. 6.24 Expression list dialog
258
Fig. 6.25 Creation of expressions Fig. 6.26 Active icon
of the Revolute joint 1
The model creation has been completed at this stage as in Fig. 6.27.
Fig. 6.27 Created analysis model Fig. 6.28 Dynamic analysis icon
⑧ Click the ‘Dyn/Kin’ icon of the ‘Simulation
group’ in the Analysis ribbon (Fig. 6.28).
⇒ The dynamic analysis execution window,
Dynamic/Kinematic Analysis dialog box
should appear. Set ‘1’ (sec) for analysis End
time, ‘1000’ for analysis Step (frame number
for animation) (Fig. 6.29).
⇒ As an integrator, select IMGALPHA (Fig.
6.29(b))*. Fig. 6.29(a)

Dynamic/Kinematic Analysis dialog
(General tab)
259
⇒ Click Simulate button (Fig. 6.29(a)).
*Two numerical integrators, IMGALPHA and
DDASSL are provided in RecurDyn.
IMGALPHA is a generalized α method and is a
stable integrator having the features of low
numerical damping for lower frequency regions
and high numerical damping for higher frequency
regions. IMGALPHA is generally used for
standard problems within RecurDyn.

Fig. 6.29(b)
Dynamic/Kinematic Analysis dialog box
(Parameter tab)
Analysis results are checked by animations and plots.
⑨ Refer to the procedure ⑦ of section 4.2(2) in
Part 3 for type of view for the animation.
By starting up ‘Plot’ (refer to the section 4.2 (2) ⑧),
time history responses of force are outputted. The
procedure is as follows:
Fig. 6.30 Plot database
⑩ Double click ‘FX_TSDA’ ** under ‘Translation Spring 1’ under ‘Translational Spring Damper’
in the ‘Force’ of the Plot Database Window within the Working Window (Fig. 6.29).
Time history force responses exerted in Spring 1 are output as shown in Fig. 6.30.
――――――――――――――――――――――――――――――――――――――――
** ‘FX_TSDA’ means X directional force of a ‘Translational Spring Damper’.
――――――――――――――――――――――――――――――――――――――――
260
Fig. 6.31
Time history responses of the X directional force exerted in the spring
(in the case of forced rotational motion)
(a) 0 [deg] (b) 60 [deg] (c) 120 [deg]
(d) 180 [deg] (e) 240 [deg] (f) 300 [deg]
Fig. 6.32 Configurations of the mechanism in each step
The force of the spring in the four-bar linkage model was in pre-tension at the initial configuration
and vanishes at the shortest distance between the two supporting spring ends. From Fig. 6.31, it is
observed that the force is positive at all times. Fig. 6.32 shows the configurations for the four-bar
linkage model at typical angles of the crank.
261
(2) Actuating the model by a rotational torque
- Driving torque setting
Cancel the driving motion that was set in (1)-⑦.
⑪ In the preceding analysis model, click the
Revolute joint icon in the Working window or
Revolute joint 4 in Joints of the Database
window, then delete it by pressing the Delete

Fig 6.33 Axial torque icon
key.
⇒ Cancel Motion setting in the Property
window of ‘Revolute joint 4’.
⑫ Click Professional tab.
⇒ Click on the Rot. Axial icon in the Force
group (Fig. 6.33).

Fig. 6.34 Axial torque setting
⇒ Select ‘Joint’ from the pull down menu of
the Modeling Option Toolbar.
⇒ Click Revolute joint 1 (Fig. 6.34).
⇒ Click the ‘EL’ button after opening the
Property window of ‘RotationalAxial 1’ in
the Database window of the Working
window (Fig. 6.35).
262
Fig. 6.35 The ‘EL’ button in the Property window of Rotational Axial1
⇒ A Expression List dialog box will appear.
Click the ‘Create’ button (Fig. 6.36).
⇒ Another Expression dialog box will
appear. Input
‘step(time,0,0,0.001,290000)+step(time,
0.001,0,0.04,0)+step(time,0.04,0,0.041,-
290000)’ in the field (Fig. 6.37)*.
⇒ Click the ‘OK’ button both in Expression

Fig. 6.36 Expression list dialog
dialog box and in Expression List dialog
box, then return to the Property window.
Finally click the ‘OK’ button in the
window.
Fig. 6.37 Creation of expression
-
* This command indicates that the applied torque rises up to 290000 [N･mm] from 0 to
0.001sec, maintains a constant value until 0.04 sec, and drops down to 0 [N･mm] from 0.040 to
0.041sec ( Fig. 6.38).

-------------------------------------------------------------------------------------------------------------------------
263
0.040s
⑬ Click the Dyn/Kin analysis icon in the
Analysis group (see Fig. 6.29(a)).
⇒ Set ‘1’ [s] for the end time, and ‘1000’
for the Steps.
⇒ Set ‘0.6’ for numerical damping in the
Parameter tab of the Dynamic/
Kinematic Analysis dialog.

Fig. 6.38 Input time history for Axial torque
After completion of dynamics analysis:
⑭ Click the Plot icon in the Analysis tab. ⇒ Double-click on ‘Translational Spring
Damper/Translation Spring 1’ under Force in the Plot database window. ⇒ The time history for
the spring force in the axial direction of ‘Translational Spring 1’ that is set between ‘Fixing point
1’ and ‘Rocker 4’ is drawn (Fig. 6.39).
264
Fig. 6.39 The time history spring forces of axial direction (in the case of torque excitation)
For the case of applying a constant amplitude torque that is different from the case of specified forced
rotation, a certain rotational torque is needed to keep it rotating because the driving shaft rotates by
overcoming the restoring force due to the spring. Fig. 6.39 shows the spring force in which the first
three cycles maintain rotation but the rest do not due to energy dissipation introduced from the
numerical damping of the integration solver. For stable computation, RecurDyn employs the
generalized α method. Here 0.6 is employed as the damping coefficient in the solver.
6.2 Motion of a three dimensional slider-crank mechanism
Consider a motion analysis of a three dimensional slider-crank mechanism. The reason why this
problem is considered is due to the fact that the problem is introductory and simple but still practical
and three dimensional. Creating RecurDyn analysis data, running RecurDyn with this data, obtaining
analysis results, and evaluating said results are a series of work tasks for users. Since it is
fundamentally important for users to know how to create input data for analysis, the data creation
procedure will be carefully given and duplicated explanations will be avoided as much as possible.
Fig. 6.40 shows a three dimensional slider-crank mechanism. CAD data for this mechanism has
265
already been created and stored in the file named ‘3DCrank_ML.x_t’. The geometries and dimensions
for this model are shown in Fig. 6.41 and Fig. 6.42.
Here, users will learn an analysis model creation method using RecurDyn by importing CAD body
data. There are two different types of constraining methods are shown in this problem:
1) Constraining a slider with a translational joint to the ground, and
2) Constraining the slider with a contact element to the ground
From explanations below, users will learn that there are several constraining methods depending on
the purpose of the analyses. Similarities and differences in the motions for different constraining
methods will also be observed from the analyses.
Revolute around X axis
Driving
Unit
Clank Connecting rod
Y Translate on X axis
Slider
Z
X
Base
Fig. 6.40 A three dimensional slider-crank mechanism
266
Driving Unit
200
Clank
Slider
Connecting rod
500 1300 300
200
(0,0,0)
Y
450 1450
Base
X
Fig. 6.41 Dimensions of the analysis model (X-Y plane)
φ40
Clank
Driving Unit
Base
Slider
Y 160
200
400
Z
Fig. 6.42 Dimensions of the analysis model (Z-Y plane)
267
In the three dimensional slider-crank mechanism shown in Fig. 6.40, the slider translationally
moves right and left by rotating the drive shaft at the upper left corner through the motion of the
connecting rod. The rotational motion of the driver about the axis of the driving shaft rotates the
crank about the driving shaft. The connecting rod is connected at one end to the crank and at the
other end to the slider, both with spherical joints. The assembled three dimensional mechanism
produces right and left slider motion in the X-direction due to the rotation of the crank.
The unit system adopted is mm [length], kg [mass], s [time]. The acceleration of gravity is 9806.65
mm/s2.
(1) Constraining a slider with a translational joint to the ground
① Run ‘RecurDyn’.
⇒ The ‘Start RecurDyn’ window should
appear as in Fig. 6.43.
② Type in ‘SC_3D’ for the model name.
⇒Select MMKS from the pull down menu.
Select -Y from the Gravity pull down
menu. Click the OK button.
Fig. 6.43 RecurDyn Start window
- Body creation
The creation of the bodies is carried out by importing CAD data. The method for importing CAD
data is referred to in section 4.2(3). Here, CAD data in the file ‘3DCrank_ML.x_t’ is used (The data
can be downloaded from http://motionlabo.com/archive/3DCrank_ML.zip, which was originally
created by FunctionBay K.K., Japan).
Because the imported CAD data shown in Fig. 6.44 contains only the bodies’ coordinates,
angles, and geometries, users do not need to specify these types of information. Connecting
conditions such as joint, forces and contact elements between bodies are not specified. The main
268
work to create the model is to add this unspecified data to complete the analysis.
Having imported the CAD data,
bodies of the three dimensional slider-

ImportedBody5
crank were created within RecurDyn.
ImportedBody4
The next step is to add connecting
ImportedBody2
conditions between the bodies. ImportedBody3
ImportedBody1
- Joint creation
First, ImportedBody1 (base) and Fig. 6.44 Imported bodies
Ground, and ImportedBody4 (crank)
and ImportedBody5 (driving shaft) Revolute Joint

are connected by fixed joints (Fig.
6.45).
③ For proper setting of a Fixed joint,
refer to procedure ④ in section 4.2 Fixed Joint

(3).
Fig. 6.45 Adding fixed Joints to the model

Next, ImportedBody4 and Imported
Body3 (rod), and Imported Body3 and
ImportedBody2 (slider) are fixed by
spherical joints.
Fig. 6.46 Spherical joint icon
269
⇒ Click the Spherical joint icon in the
Joint group (Fig. 6.46).
⇒ Select ‘Body, Body, Point’ from the pull
down menu in the Modeling Option

Fig. 6.47 ImportedBody4 Fig. 6.48 ImportedBody3
⇒ Click the crank (ImportedBody4) (Fig.
6.47).
⇒ Click the rod (ImportedBody3) (Fig.
6.48).
⇒ Click the center position ‘200,0,0’ of a
circle of the rod (Fig. 6.49).
⇒ Click the center position of the opposite
circle of the rod ‘1500,0,0’ (Fig. 6.50). Fig. 6.49 Center of Fig. 6.50 Center of
the rod circle the opposite rod circle
⇒ Follow the same procedure above, to set
the spherical joint between
ImportedBody3 and Imported Body2.
The fixing point is ‘1500,0,0’ (Fig.

Spherical Joint
6.51).
Next, fix the driving shaft to the Ground
by a revolute joint. Fig. 6.51 Set a spherical joint

⑤ Click the Professional tab.
⇒ For setting a revolute joint, refer to
procedure ④ in section 4.2 (2). The fixing
point is located at ‘0,500,0’ and rotational
direction is about the X-axis (Fig. 6.52).

Fig. 6.52 Set a revolute joint
270
- Motion setting
The joint created here is saved as name
‘Revolute1’, which can be confirmed in the
Database window. Forced rotational velocity as a
driving motion is added to this revolute joint. Fig. 6.53 Motion button
⑥ The Property window of the revolute
joint1 in the Database Window is opened
by right-clicking. Then click ‘Include
Motion’ in Motion setting and click
Motion button as shown in Fig. 6.53.
⇒ The motion dialog should appear. Then
select and click ‘Velocity (time)’ from
the pull down menu called
‘Displacement (time)’, and click the
‘EL’ button (Fig.6.54). Fig. 6.54 Motion setting
⇒ Click the ‘Create’ button from the
‘Expression list’ dialog box (Fig. 6.55),
then input ‘2*pi’ in the Expression field
to create expressions (Fig. 6.56).
⇒ After clicking the OK button in the
same dialog box, click the OK button in
the Property window of Revolute joint 1.
When ‘motion’ has been set, the

Fig. 6.55 Expression list dialog box
icon for revolute joint 1 changes, and
becomes active (Fig. 6.57).
271
Next, fix the slider (ImportedBody2) to the
base (ImportedBody1) by a translational joint in
the X direction.
⑦ Click the Professional tab.

Fig. 6.56 Creation of expression
⇒ Click the Translational joint icon in the Joint
group (Fig. 6.58).
⇒ Select and click ‘body, body, point, direction’

Fig. 6.57Changed icon
⇒ Click ‘ImportedBody1’ in the Working
window (Fig. 6.59).
⇒ Click ‘ImportedBody2’ in the Working
window (Fig. 6.60).
⇒ Click any point on ‘Imported Body2’ in the
Working window. Fig. 6.58 Translational joint icon

⇒ Adjust and click the icon of the Translational
joint to control X direction (Fig. 6.61).
Fig. 6.59 Base body clicking Fig. 6.60 Slider body clicking
272
Y
Z X
Fig. 6.61
Defining a fixed point and direction for the translational joint

⑧ Click the Analysis tab.
⇒ Click the Dyn/Kin icon in the Analysis
group.
⇒ The Dynamic/Kinematic Analysis dialog
box will appear. Set ‘5’ for the End Time,
and ‘500’ for the Step (Fig. 6.62). Select
IMGALPHA for the integrator in the
Parameter tab (not shown here).
⇒ Click the Simulate button.
Fig. 6.62 Dynamic/Kinematic Analysis dialog box
The simulation results will be checked by showing animations and plots.
⑨ For animation viewing, refer to procedure ⑦ in section 4.2(2).
273
Here, time history position response for the X direction is displayed by starting up the plotter.
⑩ Click the Plot icon in the Analysis tab.
⇒ Double click on ‘Pos_TX/Imported Body2’ under
Bodies in the Plot database window (Fig. 6.63).
Then, time history position response at the mass center
of the slider (ImportedBody2) in the X direction is

Fig. 6.63 Plot database
displayed as in Fig. 6.64. From Fig. 6.64, the slider
motion can be studied.
Fig. 6.64
Time history position response at the mass center of the slider in the X direction
（for a slider constrained by a translational joint
(2) Constraining the slider with a contact element to the ground
In the problem given in section 6.2 (1), the imported body ‘ImportedBody2’ for the slider was
constrained by the translational joint. Here, a contact condition will be introduced for the same part
274
in the mechanism to realize translational motion.
- Delete the translational joint
It is assumed that the analysis is continued from the preceding case of section 6.2 (1).
⑪ In the preceding analysis model, click the Translational joint icon in the Working window or
ImportedBody2 in Joints of the Database window, then delete it by pressing the Delete key.
- Contact elements setting
Set the solid contact between the base
and the slider.

Fig. 6.65 Solid contact icon
⑫ Click the Professional tab.
⇒ Click the Solid contact icon in Contact

Fig. 6.66 Solid contact Modeling Option Toolbar
group (Fig. 6.65).
⇒ Select ‘Solid (Shell), Solid (Shell)’
⇒ Click base body (ImportedBody1) in
the Working window.
⇒ Click slider (ImportedBody2) in the
Working window.
⇒ Open the Property window of
SolidContact1 in the Database
window, set ‘100000’ for the Spring

Fig 6.67 Solid contact Property window
Coefficient and ‘1000’ for the
Damping Coefficient* (Fig. 6.67).
275
------------------------------------------------------------------------------------------------------------------------
* The Spring Coefficient is a coefficient of restitution representing the rigidity of contact surfaces
between contacting two bodies. This is dependent on the value of indentation of the two bodies at a
contact point.
The Damping Coefficient is an energy dissipation coefficient representing damping characteristics
of contact surfaces between two contacting bodies. This is dependent on the relative speed between
the two contacting surfaces. These values cannot be obtained analytically. If these value are too
small, the slider does not move properly in the X direction. Contrary to this, if the values are too
large, the computation does not proceed properly. Trial and error should be carried out by judging
the slider’s motion.
------------------------------------------------------------------------------------------------------------------------
Now a dynamic analysis shall be run. By running the model under the same analysis conditions
from before except for the contact condition, a computational result is obtained as shown in Fig. 6.68.
This slider motion is almost identical to that of Fig. 6.64.
Fig. 6.68
Time history position of the center of mass for the slider in the X direction
（for a slider constrained by contact elements）
276
As the slider is constrained by the base with the contact element in this model, it contacts and
collides with the grooves of the base during motion. Contact forces in the Z direction, which is
perpendicular to the translational direction, can be checked by plotting FZ_SolidContact under
Fig. 6.69 Contact force in the Z direction between the base and the slider
‘Contact/Solid Contact/Solid Contact1’ in the Plot database window as shown in Fig. 6.69.
If a contact element is used for model creation then backlash due to clearance between the slider
and the groove in the base can be considered and a more realistic analysis model is gained. But,
analysis speed drops tremendously because contact judgement and computation of contact forces are
very time consuming.
6.3 Vibration of an elastic beam
Consider the vibration of an elastic beam. This model demonstrates how to create an elastic beam
analysis model by using rigid bars and rotational springs. The model is important because if users
learn how to make the model once, then model creation of elastic body systems for motion and
vibration problems can be carried out in the same way as will be presented in the elastic beam case
here by combining rigid bodies and springs.
An elastic straight cantilever beam is considered here. The analysis model shown in Fig. 6.70 will
277
be created within RecurDyn. Shapes and sizes of the model are given in Fig. 6.71. The purpose
Rotational constraints + rotational springs about Z-axis
Rigid bar
Z
X
Fig. 6.70 Analysis model of an elastic cantilever beam
10 10 10 10 10
(0,0,0)
50
X
Fig. 6.71 Shapes and sizes of the analysis model
of the analysis is to calculate free vibration of the cantilever beam through creating the analysis
model with rigid bodies and springs using RecurDyn.
The elastic beam is divided into 5 equi-length elements as shown in Fig. 6.71. The left node of the
left-most bar element is constrained to the ‘Ground’ by a revolute joint about the Z-axis with a
rotational spring. The other bar elements are also connected at each node by a revolute joint about the
Z-axis with a rotational spring as shown in Fig. 6.71. The gravitational acceleration is applied to the
- Y direction, so the beam deforms toward the - Y direction until a static equilibrium state is
reached. The unit system used is mm [length], kg [mass], s [time]. The gravitational acceleration is
278
taken as 9806.65 [mm/s2].
Now create an analysis model using RecurDyn.
- Preparation
① Start up ‘RecurDyn’.
⇒ The Start RecurDyn window is opened
(Fig. 6.72).
② Type in ‘Flex_Beam’ as the model name.
⇒ Select ‘MMKS’ as the unit system
and ‘-Y’ as gravity’s direction, then
click the OK button.
③ Set ‘10’ for XGridSize in the Home tab,
and then press the Enter key. Set ‘10’ for
YGridSize in the Home tab, and then

Fig. 6.72 Start RecurDyn window
press the Enter key (Fig. 6.73).
- Body creation
Cylinder bodies are used in this analysis.
③ Click the Professional tab.
⇒ Click the Cylinder icon in Body group
(Fig. 6.74).
⇒ Select and click (Point, Point) from the
pull down menu in the Modeling Option

Fig. 6.73 Set grid size
⇒ Click coordinates (0,0,0,Ground) in the
Working window (Fig. 6.75).
⇒ Click the coordinates ‘10., 0, 0’ (Fig.
6.76). The same procedure is applied to
create the other four 10 mm long cylinders Fig. 6.74 Cylinder icon
279
in the horizontal direction (Fig. 6.77).
Fig. 6.75 Click ‘Ground’ Fig. 6.76 Click at ‘10,0,0’
Cylinder 1 Cylinder 2 Cylinder 3 Cylinder 4 Cylinder 5

Y
Fig. 6.77 Creating the model by connecting 5 cylinder bodies in series
- Creation of joints
⇒ Click the Revolute joint icon in the
⇒ Select ‘Body, Body, Point’ from the Fig. 6.78 Revolute joint icon
pull down menu of the Modeling
Option Toolbar (Fig. 6.78).
⇒ Click ‘Ground’ (Fig. 6.79).
⇒ Click ‘Cylinder 1’ (Fig. 6.80).
⇒ Click at ‘0,0,0’ (Fig. 6.81).

Fig. 6.79 Ground Fig. 6.80 Cylinder 1
Apply the same procedure for creating
revolute joints between the adjacent
cylinder elements about the Z-axis (Fig.
6.82).
Fig. 6.81 Click at ‘0,0,0’
280
Fig. 6.82 Constraining two adjacent cylinder elements using revolute joints
- Addition of the rotational spring
Add rotational springs to the revolute joints.
⑤ Click the Professional tab.
⇒ Click the Rot. Spring icon in the Fig. 6.83 Rotational spring icon
Force group (Fig. 6.83).
⇒ Select ‘Joint’ from the pull down menu
of the Modeling Option Toolbar (Fig.

Fig. 6.84 Modeling Option
6.84).
⇒ Click the revolute joints defined in ④
(Fig. 6.85).
Apply the same procedure for creating

Fig. 6.85 Click revolute joint
all rotational springs located at all revolute
joints (Fig. 6.86).
Fig. 6.86 Addition of rotational springs
281
⇒ Open the Property window by right-clicking the Rotational spring stored in the Database
window (Fig. 6.87).
⇒ Input ‘1’ [N･mm/rad] for the Spring Coefficient and ‘0.01’ [N･mm/rad･s] for the Damping
Coefficient (Fig. 6.87). ⇒ Click OK button.
Fig. 6.87 Properties for a Rotational Spring
- External force setting
Here, motion of the elastic beam under the force of gravity will be considered. The initial
configuration of the beam is straight in the horizontal direction. Under the effect of gravity, this
beam moves downward from rest position without any other external forces.
282
⑧ Click the Dyn/Kin icon.
⇒ The Dynamics/Kinematic Analysis dialog
box will appear. Set ‘5’ [sec] for the End Time
and ‘100’ [-] for Step (Fig. 6.88).
⇒ Select ‘IMGALPHA’ for the numerical
integrator from the Parameter tab (not shown
here).
⇒ Click the Analysis button.
Fig. 6.88 Setting analysis parameters
Analysis results are checked by animations and plots.
⑨ Refer to procedure ⑦ in section 4.2(2) for animation viewing.
By starting up ‘Plot’, the time history response of Y directional beam displacement at Body 5’s
center of mass is output. The procedure is as follows:
⑩ Double click ‘Pos_TY’. This is under
‘Flex_Beam/Bodies/Body5’ in the Plot
Database window located on the right hand side
of the display (Fig. 6.89).
⇒ The time history response of Y directional
beam displacement at Body 5's center of mass
is displayed (Fig. 6.90).
Fig. 6.89
Plot Database window
for beam response
283
Fig. 6.90
Time history response of beam displacement at the center of mass for cylinder 5
An elastic cantilever beam was analyzed by using a combination of rigid cylinder bodies and
linear rotational springs. A rigid cylinder takes the mass of the beam element and the rotational
spring describing bending rigidity at its corresponding part of the beam. Proper determination of
the rotational spring coefficient is important for accurately calculating analysis results. Additionally,
proper determination of the rotational damping coefficient is fairly difficult.
6.4 Control of an inverted pendulum
A bar called an inverted pendulum is vertically set on a cart as shown in Fig. 6.91. The bar will
fall under the effect of gravity without any counter-measures. As a demonstration of a simple control
problem, consider the motion of the cart and that the bar on the cart remains vertical. This is called a
control problem of the inverted pendulum.
To do this, an analysis model must be created for the problem. The bar and the cart are created by
rigid bodies: a cylindrical bar and a box. The pendulum bar is fixed at its bottom end to the cart at the
center of the upper surface with a revolute joint as shown in Fig. 6.91. A control force is applied to the
cart at its center of gravity with respect to the ‘Ground’ by a two point force within RecurDyn. The
control force is applied by computing commands using IF statements in a conditional environment.
284
Cylinder
Y Base
Z Translational Joint
Fig. 6.91 Control of an inverted pendulum
Items to be learned in this section are:
1) A method for applying a two point force to an analysis model
2) A method for applying control commands to an analysis model
The cart is fixed by a translational joint in parallel to the X-axis so that the cart moves only in the
X direction. The pendulum bar is fixed at its lower end to the center of the cart on its upper surface
with a revolute joint. The rotational direction of the bar is about the Z-axis. Initially the inverted
pendulum is set slightly inclined from its vertical line. Due to the effect of gravity, the inverted
pendulum gradually falls to one side. The cart responds to the inclined angle of the inverted pendulum
by moving translationally with the direction to decrease said inclination by applying a two point force
between the cart and the ‘Ground.’ The proper creation of the control force sustains the inverted
pendulum’s stability. This simple control is observed hereafter.
The unit system used is mm [length], kg [mass], s [time]. The gravitational acceleration is taken
as 9806.65 [mm/s2].
285
Now create an analysis model using RecurDyn.
- Preparations
① Start-up ‘RecurDyn’.
⇒ Start RecurDyn window is opened.
② Input ‘Touritsu’ as a model name.
⇒ Select ‘MMKS’ as unit system and ‘-Y’ as
gravity’s direction, then click the OK button
(Fig. 6.92).
Fig. 6.92 Start RecurDyn window
- Body creation
Create the inverted bar using a cylinder body.
Refer to section 4.2(2) for a more detailed procedure.
③ Click the Professional tab.
⇒ Click the cylinder icon in the Body group.
⇒ Select and click ‘Point, Point, Radius’ from the pull down
menu in the Modeling Option Toolbar.
⇒ Click coordinates ‘0,0,0’ in the Working window.
⇒ Click coordinates ‘0,600,0’ in the Working window.

Fig. 6.93 Inverted bar body
⇒ Input ‘25’ in the Input Toolbar, then press the enter key.
Here the inverted pendulum bar has been created (Fig. 6.93).
The next is to create the base with a box body.
⇒ Click the box icon in the Body group.
⇒ Select and click ‘Point, Point, Depth’ from the pull down
menu in the Modeling Option Toolbar.
286
⇒ Click coordinates ‘-200, 0,0’ in the Working window.
Fig. 6.94 Base body
⇒ Click coordinates ‘200,-100,0’ in the Working window.
⇒ Input ‘200’ in the Input Toolbar, then press the enter key.
The base has been created (Fig. 6.94).
- Joint creation
Base body 2 is fixed to ‘Ground’ by a
translational joint in the X direction.
⇒ Click the translational joint icon in the

Fig. 6.95 Translational joint icon
⇒ Select and click ‘Body, Body, Point,
Direction’ from the pull-down menu in
the Modeling Option Toolbar (Fig. 6.95).
⇒ Click Ground (Fig. 6.96).
⇒ Click Body 2 (Base body) (Fig. 6.97).
⇒ Click at any point on Body 2 (Fig.

Fig. 6.96 Fig. 6.97
6.98).
Click Ground Click Base body 2
⇒ Click the translational joint to set
motion in the X direction (right and left)
(Fig. 6.99).
⑤ The next step is to set a revolute joint
between ‘Body 1’ and ‘Body 2’ about the

X
Z-axis. Fig. 6.98 Click Fig. 6.99
The detailed procedure is refered to in ④ of arbitray point on Body 2 Click the translational joint
to set motion in the X direction
section 4.2(2).
287
Y
X
Z
Fig. 6.100
Joint setting
Fig. 6.101
- Initial attitude Initial configuration of the inverted pendulum
The inverted pendulum is inclined -10° (10° in
the counter clockwise direction) about the Z-axis
from the vertical line passing through the revolute
joint (Fig. 6.101).
The method to rotate entities is referred to in

Fig. 6.102 Axial icon
procedure ⑤ of section 4.2(2).
- Driving Force setting
⑥ Click the Professional tab.
⇒ Click the Axial icon in the Force group

Fig. 6.103
(Fig. 6.102).
Modeling Option Toolbar for force setting
⇒ Select and click ‘Body, Body, Point, Point’
from the pull-down menu in the Modeling
Option Toolbar (Fig. 6.103).
⇒ Click Ground (Fig. 6.104).
⇒ Click Body 2 (Fig. 6.105).
⇒ Key in ‘-500,-50,0’ , the point A located on
the ground, in the Input Toolbar. Fig. 6.104 Ground Fig. 6.105 Body 2
⇒ Key in ‘0,-50,0’ , the point B located on
288
the Body 2, in the Input Toolbar.
Having finished setting the forces, the two point

A B
force icon should appeared in the Working window
(Fig. 6.106).
Fig. 6.106 Two point force setting
The next step is to provide numerical expressions in the IF statement of the two point force.
⑦ Open the Property dialog of the two point force (see sect.5.4.1 (1)-(d)), and click the ‘EL’
button (Fig. 6.107).
⇒ Click the ‘Create’ button in the Expression List dialog box to view the Expression dialog box.
⇒ Type ‘IF(YAW(1,2):1000,0,-1000)’ in the Expression field*, then double click the ‘Add’
button in the Argument List (Fig. 6.108).
⇒ As shown in Fig. 6.108, drag and drop ‘Body1.Marker1’ under ‘Joint, Rotation1’ in the
Database window to the Entity field of the Argument List. Use the same procedure for
‘Body2.Marker1’.
6.107 Click EL button in the Property dialog box of Axial1

289
Fig. 6.108 Creation of IF statements
―――――――――――――――――――――――――――――――――――――――
* IF statement: Apply the control force F to the point B shown in Fig. 6.104 with respect to the
point A shown in Fig. 6.105. The force F [N] is calculated as F  1000 ;   0, 0 ;   0,
 1000 ;   0 where,  [rad] is the yaw angle, which is the angle of Argument 1
(Body1.Marker1) with respect to Argument 2 (Body2.Marker1). Thus, the control force acts so as
to prevent the inverted pendulum from falling down.
――――――――――――――――――――――――――――――――――――――――
Now a dynamic analysis shall be run. The procedure
of executing a dynamic analysis here is the exactly
same as was described in ⑧ of section 6.3.
The analysis results are checked by animations and plots.
⑨ Refer to procedure ⑦ in section 4.2(2) for animation Fig. 6.109 Plot database window
viewing.
290
The angle of the revolute joint is observed.
⑩ Double click on ‘Pos1_Relative’. This is under
‘Joints/Rotation1/Touritsu _5 _19’ in the Plot database window
(Fig. 6.109).
The time history response of the rotation angle of the joint is shown in Fig. 6.110.
Fig. 6.110 Time history response of rotation angle of the joint
It is observed that the relative angle between the vertical line passing through the joint and the
inverted pendulum approaches 0 [deg] when sufficient time passes. This means that the inverted
pendulum eventually reaches to a stable state standing up-right by controlling the base motion.
291
7. RecurDyn files
RecurDynHelp: [User Interface > RecurDyn Graphic User Interface > System Button]
Files that can be imported and exported using System button within RecurDyn are the followings:
(1) File formats that can be imported by the modeler
(a) Geometry files
- Parasolid (*.x_t, *.x_b)
- IGES (*.igs)
- STEP (AP203, AP214) (*.stp, *.step)
- ACIS (**.sat)
- CATIA (*.CATPart, *CATProduct)
- Shell data (*.shl)
- Stereo-lithography (*.stl)
- RecurDyn Body File (*.rdbd)
- RecurDyn Profile Files (*.rdpf)
(b) RecurDyn files
As RecurDyn files, RecurDyn RoadShell Files (*.rdf), RecurDyn Tire RoadShell Files
(*.rdf), RecurDyn Animation Data File (*.rad), RecurDyn Solver-Generated Animation
File (*.ran), RecurDyn Subsystem File (*.rdsb), RecurDyn Design Parameter File (*.rdp),
and RecurDyn SDK File (*.sdk) are provided (see Table xx).
(c) Other files
- ADAMS ADM File (*.adm)
- CAD Generated ADAMS CMD File (*.cmd)
(2) Files that can be exported by the modeler
(a) Geometry files
- CAD data (Parasolid, STEP, IGES, ACIS, CATIA)
292
- RecurDyn Body File (*.rdbd)
- RecurDyn Profile Files (*.rdpf)
(b) RecurDyn files
As RecurDyn files, RecurDyn Solver Data File (*.rmd), RecurDyn Subsystem File (*.rdsb), and
RecurDyn Design Parameter File (*.rdp) are provided (see Table xx).
(3) Files that can be imported by the plotter
- RecurDyn Plot Database File (*.rplt); Plot data automatically generated during simulation
- RecurDyn Plot Template XML File (*.rplx); Plotter template which includes graphic type, font,
color, and title
- RecurDyn DFRA Plot DataBase File (*.fplt); Plot data automatically generated during frequency
response analysis
- Text File (*.txt), Data File (*.dat)
(4) Files that can be exported by the plotter
- RecurDyn Plot Template XML File (*.rplx); Plotter template which includes graphic type,
font, color, and title
- Text File (*.txt)
- Bitmap File (*.bmp), Windows meta File (*wmf); Plotter screen shot
(5) Extensions of RecurDyn
Table 7.1 Extensions and summaries of RecurDyn
Extension Summary
bin Material library
icf Position and velocity of bodies at finish time in analysis
msg Message from a solver during analysis
out Initial conditions and equilibrium position of a model
plot Plot file including graph viewing properties
rad Animation data automatically created during analysis
ran Animation data for NX/Motion

293
rbak RecurDyn’s backup file created at starting up
Body data including marker and size information
rdbd (Only for bodies created within RecurDyn )
rdf Road data used in tire force
rdp, rpv, rpp Parameter file
rdpf Profile data
rdsb Subsystem data
rdyn RecurDyn’s model file
req Result data which is output by request setting
rmd Model data which is sent to a solver
rpi Property index value
rplt Plot data automatically generated during analysis

The file used during importation of a mechanism model
sdk created by NX/Motion into RecurDyn
References
Chapter 2
(1) MotionLabo, Inc web page http://motionlabo.com/
Chapter 5
(1) FunctionBay, Inc., RecurDynHelp, http://www.functionbay.co.kr/.
(2) N. Shimizu, T. Sawanobori, K. Sogabe, H. Takada, and K. Nonami, Machinery Dynamics,
Kyouritsu Publishing Co. , pp. 109-110, 1998 in Japanese.
(3) H. Hertz : On the contact of elastic solids, Journal für die reine und angewandte
Mathematik, 92, 156-171, 1882.
(4) E. J. Haug, Intermediate Dynamics, Prentice-Hall Interscience, pp.85-86, 1992.
(5) http://www.functionbay.co.kr/documentation/onlinehelp/default.htm#!documents/havsin.htm
(6) Ho-Young Cha1, Juhwan Choi, Han Sik Ryu1 and Jin Hwan Choi, Stick-slip algorithm in a
tangential contact force model for multi-body system dynamics, Journal of Mechanical Science
294
and Technology 25 (7) (2011) 1687~1694, www.springerlink.com/content/1738-494x,
DOI 0.1007/s12206-011-0504-y
(7) http://www.functionbay.co.kr/documentation/onlinehelp/default.htm#!documents/step5.htm
(8) http://www.functionbay.co.kr/documentation/onlinehelp/default.htm#!documents/step.htm
(9) RecurDynHelp ;
http://www.functionbay.co.kr/documentation/onlinehelp/default.htm#!documents/
Chapter 6
(1) D. S. Bae, H. W. Kim, H. H. Yoo, and M. S. Suh, ‘A Decoupling Method for Implicit Numerical
Integration of Constrained Mechanical Systems’, Mechanics of Structures and Machines,
Volume 27, Number 2 pp.129 - 141, 1999
(2) J. M. Han, D. S. Bae, and H. H. Yoo, ‘A Generalized Recursive Formulation for Constrained
Mechanical Systems’, Mechanics of Structures and Machines, Volume 27, Number 3 pp.293 -
315, 1999
(3) K. E. Brenan, S. L. Campbell, and L. R. Petzold, Numerical Solution of Initial-Value Problems in
Differential-Algebraic Equations, SIAM Press, 1995
(4) J. Chung, J, ‘Numerically Dissipative Time Integration Algorithms for Structural Dynamics’,
Volume 37 pp.3961 ? 3976, 1994
(5) Gerald Farin, Curves and Surfaces for Computer-Aided Geometric Design A Practical Guide,
Fourth Edition, Academic Press, 1997
(6) K. D. Yang, S. H. Lee, D. S. Bae, and M. S. Suh, ‘Use of Joint Geometric Conditions in
Formulating Cartesian Equations’, Mechanics of Structures and Machines Volume 23,Number 3
pp.395 - 417, 1995
(7) Oden, J. T., and E. A. Ripperger Mechanics of Elastic Structures, Second Edition, McGraw-Hill
Press, 1968
(8) Fiala, E., ‘Seitenkrafte am rollenden Luftreifen’, VDI-Zeitschrift 96,973, 1964
(9) Gim, Gwanghun, Vehicle Dynamic Simulation with a Comprehensive Model for Pneumatic Tires,
Ph. D. Thesis, The University of Arizona, 1988
(10) Peter Lancaster and Kestutis Salkauskas, Curve and Surface Fitting An Introduction, Academic
Press, 1990
(11) H. W. Kim, D. S. Bae, and K. K. Choi, ‘Configuration Design Sensitivity Analysis of Kinematic
Responses of Mechanical Systems’, Mechanics of Structures and Machines, Volume 27, Number
2 pp.203 - 215, 1999
295

RecurDyn For Beginners

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RecurDyn For Beginners

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RecurDyn for Beginners

- Innovation for Design & Analysis

1) Outline, development and future plans for RecurDyn

2) Fundamental theory of multibody dynamics on which RecurDyn is based

input data in RecurDyn.

In Part 2 ‘Fundamental theory of multibody dynamics on which RecurDyn is based,’ an outline of

In Part 3 ‘Using RecurDyn’, RecurDyn Professional (RD/Pro) of RecurDyn’s large family of

simple mechanism analysis models, the following items will be studied.

1) Creating analysis data for RecurDyn, executing computations and evaluating

3) Special considerations for creating RecurDyn analysis data

4) Dynamics analysis of simple models using RecurDyn

5) File compositions of RecurDyn

2. How has RecurDyn been developed?

3. What can RecurDyn do?

4. Outline of compositions and functions of RecurDyn

5. Integrated analysis using RecurDyn

Part 2 Fundamental theory of multibody dynamics on which RecurDyn is based

2. CAE in manufacturing and its supporting subjects of study

3. Development of multibody dynamics

4. The Fundamental concept and theory of multibody dynamics

5. Future problems and trends of multibody dynamics

Part 3 Using RecurDyn

2. Analysis examples of mechanism problems using RecurDyn

5. Getting to know RecurDyn

6. Analysis using RecurDyn

2. How has RecurDyn been developed?

3. What can RecurDyn do?

4. Outline of compositions and functions of RecurDyn

(1) Standard multibody dynamics software (RecurDyn/Professional)

(2) Interdisciplinary toolkits

(a) Mechanism analysis of flexible bodies

(b) Analysis of control problems (CoLink)

(c) Design optimization (AutoDesign)

(d) Particle analysis (Particles)

(3) Interfacing with external software (Communicators)

(a) Control: Interface of control software

(b) Hydraulic: Interface of hydraulic-control software

(d) CAD Interface

(4) Special purpose toolkit (Application Toolkit)

(5) Automating and customizing (Automation & Customization)

5. Integrated analysis using RecurDyn

data, it enables users to conduct user-friendly intuitive operations.

Fig. 1. 1 A farming tractor

Fahrdynamik Traktor RecurDyn, Labor MKS, Fakultät Maschinenbau

Fig.1.2 A robot’s motion during operation

for which physical evaluations can easily be given.

results in realizing high-quality product design and development.

way that the finite element software in CAE contributes to manufacturing.

systems with many moving parts and components.

devices, office appliances, acoustic equipment, robots, manufacturing machines, construction

bodies such as human beings and animals.

easily use RecurDyn.

The following are brief analysis examples.

- Structural mechanism problems with flexible bodies

for an accurate analysis.

- Mechatronics problems with controllers

- Problems of durability analysis

induced in the members and components of the concerned object.

Fig. 3.1 Landing mechanism of airplane

Fig.3.3 Co-simulation with Particleworks for oil behavior

system of RecurDyn is shown in Fig. 4.1. RecurDyn/Professional: a rigid multibody dynamics

AutoDesign: an optimization design software. Durability: a fatigue analysis software. Particles: a

finite element procedures.