MCL738 Dynamics of Multibody Systems

MCL738 Dynamics of Multibody Systems (2-0-2) 

Course Coordinator: Prof. S.K. Saha (Room: II-419; Tel: x1135; Email:

Other Teacher: Prof. K. Rama Krishna (Email:

Jan-Apr 2022

Lectures (Online): Mon 11am-12pm; Thu 12-1pm; Practicals (Online): Wed 10am-12pm 

Course (Learning) Objectives

  1. On successful completion of this course, a student should be able to write efficient and numerically stable computer algorithms for dynamic analyses and realistic simulation of mechanical systems.
  2. Able to write dynamic equations of motion of a COMPLEX rigid-flexible (deformable) system and apply them for prediction of its behavior and design analyses.


Application of Multibody Dynamics (Chapter 1 of Chaudhary and Saha); Rotational notations (Euler angles, Direction cosines, etc.) (Chapter 5 of Saha’s Intro. to Robotics)

Course contents

Overview of kinematic descriptions of serial, tree, and closed-loop chains, Degrees of freedom, and Kinematic constraints of rigid and flexible systems; Basics of Euler-Lagrange and other classical dynamic formulations, and those with orthogonal complements; Dynamic algorithms (inverse and forward dynamics); Efficiency and numerical stability aspects of the algorithms; Introduction to commercial software like RecurDyn.

Suggested texts and reference materials

  1. Chaudhary, H., Saha, S.K., Dynamics and Balancing of Multibody Systems, Springer, 2009
  2. Saha, S.K., Introduction to Robotics, 2nd Edition, McGraw-Hill, 2014
  3. Nandihal, P., Mohan, A., and Saha, S.K. Dynamics of Rigid-Flexible Robots and Multibody Systems, Springer, 2021
  4. Shah, S., Saha, S.K., and Dutt, J.K., 2014, Dynamics of Tree-type Robotic Systems, Springer, 2014
  5. Shabana, A.A., Dynamics of Multibody Systems, Cambridge Univ. Press, 2005

Minors: 30-40

Practical, Projects, and Quiz: 25

Major: 35-45

Total 100

Attendance: Follow institute guidelines

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