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Dynamic modelling and singularity free simulation of closed loop multibody system driven by electric motors

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This paper presents the dynamic model and singularity-free simulation of electromechanical systems including closed loop multibody systems, massless gear transmission and electric motors. The dynamic model of these systems is established in matrix form and written in a Differential-Algebraic Equations form by applying the Lagrangian equation with multipliers and substructure method. |

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