Abstract: The equation of the multibody system dynamics with the scalar component form used in Huston's method is converted into one with the matrix form and the dynamic equation with Newton-Euler form is established. In the process of unfolding matrices, an obstacle is overcome, which is difficult to form general expressions from high numbered bodies to low numbered bodies when the matrices are summed, so that a describing system from low numbered bodies to light numbered bodies arranged in the natural numbers array is established, in which the transformation matrix is used concurrently as the control matrix which represents the contribution of the relative (angular) velocity of every body to the absolute (angular) velocity of the body Bk, thus, it realizes to give a general expression to the unfolded transformation matrix.

Key words: Array of low numbered bodies, Matrix analysis, Multibody system dynamics, Aero-engine assembly shop, Genetic algorithm, Rolling horizon, Self-evolution, Uncertain knowledgeable manufacturing environment, Variable neighbourhood search