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This paper deals with modeling and simulation of multibody systems consisting of rigid and flexible bodiesactuated by hydraulic motors. To develop the corresponding modelbond graph technique is used thatprovides a systematic component oriented methodology. The proposed procedure is explained on the example of arotary crane.The simulation model was developed and simulation conducted using BondSim© program. The model developed is based on physical modeling philosophy by systematically decomposing it into the components and using the models from theprogram library. Mathematical model of the system may be machine generated in the form of differential algebraic equations (DAEs) and solved using a solver capable of solving such models up to semi implicit index two models

Modeling and Simulation of Hydraulic Actuated Multibody Systems by Bond Graphs