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Among all the fields in solid mechanics the methodologies associated to multibody dynamics are probably those that provide a better framework to aggregate different disciplines. This idea is clearly reflected in the multidisciplinary applications in biomechanics that use multibody dynamics to describe the motion of the biological entities, or in finite elements where the multibody dynamics provides powerful tools to describe large motion and kinematic restrictions between system components, or in system control for which multibody dynamics are the prime form of describing the systems under analysis, or even in applications with fluid-structures interaction or aeroelasticity. This book contains revised and enlarged versions of selected communications presented at the ECCOMAS Thematic Conference in Multibody Dynamics 2003 that took place in Lisbon, Portugal, which have been enhanced in their self-containment and tutorial aspects by the authors. The result is a comprehensive text that constitutes a valuable reference for researchers and design engineers and helps to appraise the potential of application of multibody dynamics to a wide range of scientific and engineering areas of relevance.

Among all the fields in solid mechanics the methodologies associated to multibody dynamics are probably those that provide a better framework to aggregate different disciplines. This idea is clearly reflected in the multidisciplinary applications in biomechanics that use multibody dynamics to describe the motion of the biological entities, or in finite elements where the multibody dynamics provides powerful tools to describe large motion and kinematic restrictions between system components, or in system control for which multibody dynamics are the prime form of describing the systems under analysis, or even in applications with fluid-structures interaction or aeroelasticity. This book contains revised and enlarged versions of selected communications presented at the ECCOMAS Thematic Conference in Multibody Dynamics 2003 that took place in Lisbon, Portugal, which have been enhanced in their self-containment and tutorial aspects by the authors. The result is a comprehensive text that constitutes a valuable reference for researchers and design engineers and helps to appraise the potential of application of multibody dynamics to a wide range of scientific and engineering areas of relevance.

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Table of Contents Preface J. GARCIA DE JALON, et al. A Fast and Simple Semi-Recursive Formulation for Multi-Rigid-Body
Systems 1 O. OTTGEN and M. HILLER Hardware-in-the-Loop for Quality Assurance of an Active Automotive
Safety System 25 R. S. SHARP, S. EVANGELOU and D. J. N. LIMEBEER Multibody Aspects of Motorcycle Modelling with Special Reference
to Autosim 45 G. M. HULBERT, Z.-D. MA and J. WANG Gluing for Dynamic Simulation of Distributed Mechanical Systems 69 W. SCHIEHLEN, B. HU and R. SEIFRIED Multiscale Methods for Multibody Systems with Impacts 95 J. MCPHEE Unified Modelling Theories for the Dynamics of Multidisciplinary
Multibody Systems 125 J. A.C. AMBROSIO and M. P.T. SILVA A Biomechanical Multibody Model with a Detailed Locomotion
Muscle Apparatus 155 P. E. NIKRAVESH Understanding Mean-Axis Conditions as Floating Reference Frames 185 J.C. GARCIA ORDEN and J.M. GOICOLEA Robust analysis of flexible multibody systems and joint clearances
in an energy conserving framework 205 J. M. MARTINS, J. SA da COSTA and M. AYALA BOTTO Modelling, Control and Validation of Flexible Robot Manipulators 239 M. BULLINGER, K. FUNK and F. PFEIFFER An Elastic Simulation Model of a Metal Pushing V-Belt CVT 269 J. P. DIAS and M. S. PEREIRA Multicriteria Optimization of Train Structures for Crashworthiness 295 L. KUBLER, C. HENNINGER and P. EBERHARD Multi-Criteria Optimization of a Hexapod Machine 319 E. PENNESTRI and L. VITA Multibody Dynamics in Advanced Education 345 Table of Contents Preface J. GARCIA DE JALON, et al. A Fast and Simple Semi-Recursive Formulation for Multi-Rigid-Body
Systems 1 O. OTTGEN and M. HILLER Hardware-in-the-Loopfor Quality Assurance of an Active Automotive
Safety System 25 R. S. SHARP, S. EVANGELOU and D. J. N. LIMEBEER Multibody Aspects of Motorcycle Modelling with Special Reference
to Autosim 45 G. M. HULBERT, Z.-D. MA and J. WANG Gluing for Dynamic Simulation of Distributed Mechanical Systems 69 W. SCHIEHLEN, B. HU and R. SEIFRIED Multiscale Methods for Multibody Systems with Impacts 95 J. MCPHEE Unified Modelling Theories for the Dynamics of Multidisciplinary
Multibody Systems 125 J. A.C. AMBROSIO and M. P.T. SILVA A Biomechanical Multibody Model with a Detailed Locomotion
Muscle Apparatus 155 P. E. NIKRAVESH Understanding Mean-Axis Conditions as Floating Reference Frames 185 J.C. GARCIA ORDEN and J.M. GOICOLEA Robust analysis of flexible multibody systems and joint clearances
in an energy conserving framework 205 J. M. MARTINS, J. SA da COSTA and M. AYALA BOTTO Modelling, Control and Validation of Flexible Robot Manipulators 239 M. BULLINGER, K. FUNK and F. PFEIFFER An Elastic Simulation Model of a Metal Pushing V-Belt CVT 269 J. P. DIAS and M. S. PEREIRA Multicriteria Optimization of Train Structures for Crashworthiness 295 L. KUBLER, C. HENNINGER and P. EBERHARD Multi-Criteria Optimization of a Hexapod Machine 319 E. PENNESTRI and L. VITA Multibody Dynamics in Advanced Education 345

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