Abstract: In order to improve the modeling efficiency for the forward and inverse computational dynamics of the multi-body system, the spatial operator algebra theory is adopted. The realization of the forward and inverse computational dynamics of the multi-body system procedure is built in the environment of Mathematica 6.0 software. The generalized mass is an important factor to link rotational force vectors and rotational acceleration vectors, and the high effective iterative method can be used to compute forward and inverse dynamics. The equation for the generalized mass, forward and inverse dynamics based on the spatial operator algebra theory, has a simple math expression and a clear physical meaning. The software structure of the forward and inverse dynamics is built, the modeling for the IDEF0 method is presented and the multi-body system computational dynamics parameter simulation model is realized on the basie of integrated procedure VB.NET and Mathematica 6.0. According to the analysis, the multi-body system of PUMA560 robot forward and inverse dynamics is studied, and correctness and validity is verified by the computed examples.

Key words: Forward and inverse dynamics, Generalized mass, Modeling, Multi-body system, Spatial operator algebra