The Automatic Generation of Equations-of-Motion A'GEM multibody dynamics package.

This paper describes the Automatic Generation of Equations-of-Motion (A'GEM) multibody dynamics simulation software. These equations are derived using influence coefficients which relate the displacement of force producing elements (for instance springs, dampers, active elements) to the degrees-of-freedom defined for the rigid bodies in the system. The method gives equations-of-motion which are linear in terms of geometrical effects but which can account for non-linear forces in system elements. The A'GEM package is aimed primarily at users who design mechanical systems, particularly vehicles.