PUMA publications for /group/researchcode/engineering%20softwareWed Aug 22 17:03:30 CEST 2018Multibody System Dynamics06125--41From Neweul to Neweul-M2: symbolical equations of motion for multibody system analysis and synthesis242010software engineering litQSaFE 01The state-of-the-art for deriving symbolical equations of motion for multibody systems is reviewed. The fundamentals of formalisms based on Newton--Euler equations are presented and the recent development of a research software called Neweul-M2 is highlighted. The modeling approach with commands and a graphical user interface are discussed as well as system analysis options, control design by export to Matlab/Simulink, and parameter optimization for system synthesis. The alternatives within the program using symbolic and numeric approaches are emphasized. A double pendulum is used to explain the program features and a vehicle benchmark model is presented as an example. Advanced applications include closed kinematic loops and flexible bodies.