Classification of the models of rigid multibody systems applied for the numerical analysis of mechanical structures' dynamic behavior

The classification of the dynamic equations forms for the rigid multibody systems with tree structure has been presented. The classification is based on the compact matrix forms of multibody systems' kinematic and dynamic equations derived through the matrix of kinematic structure and geometrical approach for relative motion description. The unified form of motion's equations is suitable for representing and comparing of various approaches to the modeling of rigid multibody systems' dynamics. The comparative analysis of computational efficiency has been carried out in relation to various methods of formulation and solution for motion equations of rigid multibody systems.