Multibody Simulation Using sympy, scipy and vpython
summary
A pipeline that builds multibody models symbolically with SymPy (Lagrange and Kane formulations), integrates them in time with SciPy ODE solvers, and visualizes results with VPython and matplotlib. It assembles bodies, joints, forces and constraints, supports external co-simulation inputs, and demonstrates examples like constrained multi‑rod pendulums and a passenger‑car driving simulation; accuracy is acceptable but not yet real‑time, with planned JIT speedups.
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chapters (9)
- 0:00Start
- 3:05Multibody simulation
- 6:18Used packages
- 9:34Building blocks of a mechanical system
- 13:30Methods to generate the equations of motion
- 13:55Layout
- 15:06What's new and interesting
- 16:20Coding style
- 28:10Improvements
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