The paper presents an approach for the simulation of mechanisms with rigid and flexible bodies using the multi-particle system (MPS) dynamic formulation. According to this model, the bodies are represented through inertially equivalent systems of mass-points separated by constant distances (for rigid bodies) or spring-damper elements (for flexible bodies). This model provides the possibility to represent bodies with different number of particles, according to level of detail desired in each case. The flexible bodies are modeled as mass-spring systems, similar with the physically based models applied in haptic rendering applications. Each rigid body can be modeled with a minimum number of particles (at least 4 particles) separated by constant distances and the joints are modeled as constraints between particles, formulated as algebraic equations. The stiffness problem of DAE system is solved through Euler implicit integration scheme. Although the number of equations is larger than in multi-body formulation, the matrices are sparser and the computation efficiency is not very much affected. The constraints, dynamic formulation and integration for this approach are outlined, including a sample mechanism for which the simulation is presented.
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