Patent Document ID: 5427531
Application ID: 07963861
Patent Flag: 1

Claim One:
1. In a digital computer system a method of dynamic simulation of a mechanism having a plurality of components, comprising the steps of: a. determining kinematic information of the mechanism; b. finding the instantaneous screw axes of at least some of the mechanism components; c. calculating the angular and linear velocities of at least some of the mechanism components as ratios of distances of component center of mass to respective screw axes; d. determining kinetic coenergy terms of the mechanism using the angular and linear velocities; e. formulating a representation of the dynamics of the mechanism using the kinetic coenergy terms, and the kinematic information as the potential energy term; f. by integrating the accelerations over time; and g. simulating the dynamic behavior of the mechanism over time, given the starting values of position and velocities.