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The purpose of dynamic modeling of multibody mechanical systems is to obtain the differential equations of motion. Maggi’s equation appears as an alternative to obtain the differential equations of motion. The aim of this work is to illustrate the advantages of the use of Maggi's equation in the dynamic modeling of multibody mechanical systems. Maggi's equation is used to model the dynamics of a classical complex constrained mechanical system. An inverse dynamics simulation is performed, to illustrate how the obtained equations can be used to determine the theoretical time series of the torques required to perform a given prescribed trajectory.

On the use of Maggi’s equation in the dynamic modeling of multibody systems