Implementation of consequent stabilization method for simulation of multibodies described in absolute coordinates

In this article, we propose methods that increase numerical efficiency of dynamic simulation of spatial multibody systems described in absolute coordinates. The successive coordinate projection method efficiently stabilizes the system constraints in the case when a non-minimal set of orientation coordinates is used to describe the orientation of bodies in space. The new procedure of generation of Newton–Euler equations is shown in detail for systems with the most popular types of joints (prismatic joint, revolute joint, etc.). The proposed algorithms were tested with models of a governor mechanism and Yamaha YZF-R1 motorcycle engine. The simulation results show that the successive coordinate projection method is stable and can be implemented for complex mechanical systems.