Subsystem synthesis methods with independent coordinates for real-time multibody dynamics

For real time dynamic simulation, two different subsystem synthesis methods with independent generalized coordinates have been developed and compared In each formulation, the subsystem equations of motion are generated in terms of independent generalized coordinates The first formulation is based on the relative Cartesian coordinates with respect to moving subsystem base body The second foimulation is based on the relative joint coordinates using recursive formulation Computational efficiency of the formulations has been compared theoretically by the arithmetic operational counts In order to verify real-time capability of the formulations, bump run simulations of a quarter car model with SLA suspension subsystem have been carried out to measure the actual CPU time