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This paper introduces a new modular software approach combining symbolical and numerical methods for the simulation of the dynamics of mechanical systems. It is based on an exact, noniterative object-oriented algorithm, which is applicable to mechanisms with any joint type and any topology, including branches and kinematic loops. The simulation of big well-partitioned systems has complexity O(N), where N is the total number of simulated bodies. A new design software Virtual System Designer (VSD) integrates this method with the three-dimensional computer aided design tool Autodesk Inventor, which minimizes the cost of the development of models and the training of design engineers. The most time-expensive routine of the simulation process in VSD is the calculation of the accelerations of each body, which needs to find the roots of matrix equations. Accounting for the sparsity of matrices can significantly improve the numerical efficiency of the routine. The preprocessing module, developed using Maple software, performs the symbolic simplification of the matrix multiplication’s and QR decomposition’s procedures. The new coordinate projection method is demonstrated. The results of the simulation of the dynamics of a double insulator chain example show the method’s stability and effectiveness.

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This paper presents the modification of a non-iterative algorithm for the component-oriented simulation of the dynamics of multibodies. Now the method can be implemented for the component-oriented simulation of the dynamics of CAD systems with redundant constraints. Also the new version of the method is well-suitable for the implementation of sparse solvers. The algorithm was implemented in the Virtual System Designer (VSD) software, integrated with a CAD tool Autodesk Inventor. The simulation results of two CAD models: a car and a steam machine shows the method's stability and accuracy.

Computer aided simulation is an important part of development of modern technical products. Many modern technical systems operate at high speeds and include lightweight components. These conditions usually lead to appearance of deformation effects that must be taken into account in processes of system modeling and simulation.