A program is developed on a DECstation using the symbolic language MAPLE which generates the equations of motion in a closed form and reduces the system order symbolically. A procedure that can make symbolic simplification and linearization is provided. The integration of shape functions is performed symbolically. Both nonlinear and linearized equations of motion with control are established in FORTRAN format. Several models including an elastic vehicle with active suspensions, an elastic robotic manipulator and an elastic slider-crank mechanism with both joint and structural flexibility are generated. Numerical simulation for the active vehicle model using an optimal control strategy is presented. The effect of active suspensions on vehicle and structural vibrations is briefly discussed. A comparison between the nonlinear and linearized robot models is given. Simulation results of the slider-crank mechanism are also presented.

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