This paper presents an algorithm for modeling the dynamics of multi-rigid body systems in generalized topologies including topologies with closed kinematic loops that may or may not be coupled together. The algorithm uses a hierarchic assembly disassembly process in parallel implementation and a recursive assembly disassembly process in serial implementation to achieve highly efficient simulation turn-around times. The kinematic constraints are imposed using the formalism of kinematic joints that are modeled using motion spaces and their orthogonal complements. A mixed set of coordinates are used viz. absolute coordinates to develop the equations of motion and internal or relative coordinates to impose the constraints. The equations of motion are posed in terms of operational inertias to capture the nonlinear coupling between the dynamics of the individual components of the system. Einstein's notation is used to explain the generality of the approach. Constraint impositions at the acceleration, velocity and configuration levels are discussed. The application of this algorithm in modeling a complex micro robot with multiple coupled closed loops is discussed.
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