摘要：In this work a general multibody system theory is implemented within a bond
graph modeling framework. In classical mechanics several procedures exist by
which differential equations can be derived of a system of rigid bodies. In
the case of large systems these procedures are labor-intensive and
consequently error-prone, unless they are computerized. The bond graphs
formalism allows for a unified modeling of multidisciplinary
physical systems. It is well-suited for a modular modeling approach based on
physical principles. The theory of multibody system dynamics in terms of bond
graphs modeling is revisited with the purpose of designing a multibond graph
library for such systems. Several mechanical systems undergoing large
3-dimensional rotations are numerically solved in order to validate
this software library written in 20-sim software
